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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/README.md b/Table-scale/Tactile/ACE-Data-Tactile-8/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/`.
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/data/chunk-000/file-000.parquet b/Table-scale/Tactile/ACE-Data-Tactile-8/data/chunk-000/file-000.parquet
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 167,
+  "total_frames": 560730,
+  "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": "0:167"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/episode-{episode_index:06d}.mp4",
+  "features": {
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000003.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000004.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000005.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000006.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000007.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000008.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000009.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000010.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000011.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000012.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000013.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000014.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000015.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000016.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000017.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000018.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000019.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000020.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000021.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000022.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000023.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000024.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000025.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000026.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000027.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000028.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000029.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000030.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000031.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/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-8/raw/calibration/take-000032.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000032.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000033.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000033.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000034.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000034.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000035.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000035.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000036.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000036.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000037.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000037.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000038.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000038.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000039.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000039.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000040.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000040.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000041.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000041.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000042.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000042.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000043.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000043.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000044.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000044.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000044.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000045.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000045.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000046.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000046.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000047.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000047.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000047.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000048.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000048.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000049.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000049.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000050.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000050.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000050.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000051.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000051.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000051.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000052.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000052.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000052.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000053.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000053.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000053.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000054.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000054.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000054.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000055.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000055.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000055.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000056.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000056.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000056.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000057.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000057.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000057.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000058.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000058.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000058.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000059.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000059.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000059.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000060.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000060.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000060.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000061.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000061.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000061.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000062.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000062.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000062.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000063.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000063.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000063.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000064.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000064.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000064.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000065.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000065.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000065.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000066.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000066.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000066.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000067.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000067.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000067.json
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000068.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000068.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000068.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000069.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000069.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000069.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000070.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000070.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000070.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000071.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000071.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000071.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000072.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000072.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000072.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000073.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000073.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000073.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000074.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000074.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000074.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000075.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000075.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000075.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000076.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000076.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000076.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000077.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000077.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000077.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000078.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000078.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000078.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000079.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000079.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000079.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000080.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000080.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000080.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000081.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000081.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000081.json
@@ -0,0 +1,148 @@
+{
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\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000082.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000082.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000082.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000083.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000083.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000083.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000084.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000084.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000084.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000085.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000085.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000085.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000086.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000086.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000086.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000087.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000087.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000087.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000088.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000088.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000088.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000089.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000089.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000089.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000090.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000090.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000090.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000091.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000091.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000091.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000092.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000092.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000092.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000093.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000093.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000093.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000094.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000094.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000094.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000095.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000095.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000095.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000096.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000096.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000096.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000097.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000097.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000097.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000098.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000098.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000098.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000099.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000099.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000099.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000100.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000100.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000100.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000101.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000101.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000101.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000102.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000102.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000102.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000103.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000103.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000103.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000104.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000104.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000104.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000105.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000105.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000105.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000106.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000106.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000106.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000107.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000107.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000107.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000108.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000108.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000108.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000109.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000109.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000109.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000110.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000110.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000110.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000111.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000111.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000111.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000112.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000112.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000112.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000113.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000113.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000113.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000114.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000114.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000114.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000115.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000115.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000115.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000116.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000116.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000116.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000117.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000117.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000117.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000118.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000118.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000118.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000119.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000119.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000119.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000120.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000120.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000120.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000121.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000121.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000121.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000122.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000122.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000122.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000123.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000123.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000123.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000124.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000124.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000124.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000125.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000125.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000125.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000126.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000126.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000126.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000127.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000127.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000127.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000128.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000128.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000128.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000129.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000129.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000129.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000130.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000130.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000130.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000131.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000131.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000131.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000132.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000132.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000132.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000133.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000133.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000133.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000134.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000134.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000134.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000135.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000135.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000135.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000136.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000136.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000136.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000137.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000137.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000137.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000138.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000138.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000138.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000139.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000139.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000139.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000140.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000140.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000140.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000141.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000141.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000141.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000142.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000142.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000142.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000143.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000143.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000143.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000144.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000144.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000144.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000145.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000145.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000145.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000146.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000146.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000146.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000147.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000147.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000147.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000148.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000148.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000148.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000149.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000149.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000149.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000150.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000150.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000150.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000151.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000151.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000151.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000152.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000152.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000152.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000153.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000153.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000153.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000154.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000154.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000154.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000155.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000155.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000155.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000156.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000156.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000156.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000157.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000157.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000157.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000158.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000158.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000158.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000159.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000159.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000159.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000160.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000160.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000160.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000161.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000161.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000161.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000162.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000162.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000162.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000163.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000163.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000163.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000164.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000164.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000164.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000165.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000165.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000165.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000166.json b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/calibration/take-000166.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000000.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000000.toml
new file mode 100644
index 0000000000000000000000000000000000000000..d0cf9a4f0e8209a7292cd0aff29dec3fbb3fe973
--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000001.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000001.toml
new file mode 100644
index 0000000000000000000000000000000000000000..d0cf9a4f0e8209a7292cd0aff29dec3fbb3fe973
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000001.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000002.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000002.toml
new file mode 100644
index 0000000000000000000000000000000000000000..d0cf9a4f0e8209a7292cd0aff29dec3fbb3fe973
--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000005.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000005.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000008.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000008.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000009.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000009.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000012.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000012.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000019.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000019.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000022.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000022.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000028.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000028.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000029.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000029.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000032.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000032.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000038.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000038.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000039.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000039.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000042.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000042.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000048.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000048.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000049.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000049.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000051.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000051.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000052.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000052.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000055.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000055.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000058.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000058.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000061.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000061.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000062.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000062.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000065.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000065.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000072.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000072.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000075.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000075.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000082.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000082.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000085.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000085.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000091.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000091.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000092.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000092.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000095.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000095.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000102.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000102.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000105.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000105.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000115.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000115.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000125.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000125.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000128.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000128.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000134.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000134.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000135.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000135.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000137.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000137.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000138.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000138.toml
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--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000141.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000141.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000144.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000144.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000145.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000145.toml
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--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000147.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000147.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000148.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000148.toml
new file mode 100644
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--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000150.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000150.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000151.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000151.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000154.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000154.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000157.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000157.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000158.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000158.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000161.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000161.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000164.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000164.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000165.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000165.toml
new file mode 100644
index 0000000000000000000000000000000000000000..bee6644401fed1d1df322fa04acab31bbaf60548
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000165.toml
@@ -0,0 +1,91 @@
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+[metadata]
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000166.toml b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000166.toml
new file mode 100644
index 0000000000000000000000000000000000000000..bee6644401fed1d1df322fa04acab31bbaf60548
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/camera_array_aniposelib/take-000166.toml
@@ -0,0 +1,91 @@
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000000.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76d3ab08d06c04fec237716a4e6444931cb14dd0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000000.txt
@@ -0,0 +1,7 @@
+Task:
+Wrap a fruit plate with plastic wrap.
+
+Subtasks:
+1. [0.000-30.500] pull out the wrap from the wrap box onto the plate
+2. [30.500-35.800] cut the wrap
+3. [35.800-61.006] wrap the plate with the wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000001.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000001.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d0d914dce8ec8db0556bb4c541a4da858d0cb1f
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000001.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-13.000] pull the plastic wrap from the roll over the plate
+2. [13.000-24.000] tear the plastic wrap from the roll
+3. [24.000-31.000] cover the plate with the torn plastic wrap
+4. [31.000-39.000] arrange the plastic wrap on the plate
+5. [39.000-47.000] place the roll of plastic wrap on the table
+6. [47.000-76.008] tuck the plastic wrap under the plate until the plate is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000002.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000002.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cae5347933700c6a4c490c401326e8747edb4dfa
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000002.txt
@@ -0,0 +1,11 @@
+Task:
+Wrap a plate of fruits with plastic wrap
+
+Subtasks:
+1. [0.000-2.400] grasp the plastic wrap
+2. [2.400-6.400] pull out the plastic wrap from the plastic wrap
+3. [6.400-12.700] grasp the plastic wrap
+4. [12.700-27.100] pull the plastic wrap from the plastic wrap over the plate until the plate is covered
+5. [27.100-30.800] tear the plastic wrap from the plastic wrap
+6. [30.800-41.500] place the plastic wrap on the table
+7. [41.500-54.005] wrap the plate with the plastic wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000003.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000003.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ffa28fa2b29041fa990a31efe1737146461e122
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000003.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap the plate with plastic wrap
+
+Subtasks:
+1. [0.000-9.800] move the plastic wrap close to the plate
+2. [9.800-27.500] pull the plastic wrap over the plate
+3. [27.500-39.400] cut the plastic wrap
+4. [39.400-46.500] place the plastic wrap on the table
+5. [46.500-68.007] wrap the plate with the plastic wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000004.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000004.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb8e814a880714d5677a2ffd496d120dd76906
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000004.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-9.600] move the plastic wrap to the table
+2. [9.600-30.800] pull out the plastic wrap from the plastic wrap roll
+3. [30.800-37.500] pull the plastic wrap over the plate
+4. [37.500-43.100] pull the plate to the plastic wrap roll
+5. [43.100-51.500] tear the plastic wrap from the plastic wrap roll
+6. [51.500-67.957] wrap the plastic wrap around the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000005.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000005.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96cdc18c28dc5dc852cc18dca137aa32eaa28773
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000005.txt
@@ -0,0 +1,13 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-3.100] pick up the plastic wrap roll
+2. [3.100-7.100] unroll the plastic wrap over the plate of fruit
+3. [7.100-11.400] tear the plastic wrap from the plastic wrap roll
+4. [11.400-13.800] place the plastic wrap roll on the table
+5. [13.800-18.000] wrap the plastic wrap around the top edge of the plate
+6. [18.000-23.700] wrap the plastic wrap around the left edge of the plate
+7. [23.700-28.700] wrap the plastic wrap around the bottom edge of the plate
+8. [28.700-33.800] wrap the plastic wrap around the right edge of the plate
+9. [33.800-44.004] lift the plate and wrap the plastic wrap under the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000006.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b124fa76ab9942f8a85432fcda893c22ed72d9d5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000006.txt
@@ -0,0 +1,12 @@
+Task:
+Cover a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-4.500] move hands towards the plastic wrap roll and the plate of fruit
+2. [4.500-7.500] pick up the plastic wrap roll
+3. [7.500-12.000] pull the plastic wrap from the plastic wrap roll
+4. [12.000-20.000] spread the plastic wrap over the plate of fruit
+5. [20.000-27.200] cut the plastic wrap using the knife
+6. [27.200-29.000] put down the knife on the table
+7. [29.000-34.500] place the plastic wrap roll on the table
+8. [34.500-45.005] seal the plastic wrap around the plate of fruit until the plate is covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000007.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000007.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8bd96ac1759f8b31fe26aaad4f72689ab6c8f08
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000007.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap the plate of fruit with plastic wrap
+
+Subtasks:
+1. [0.000-3.100] pick up the plastic wrap roll from the table
+2. [3.100-9.200] pull the plastic wrap out from the plastic wrap roll
+3. [9.200-23.800] cover the plate of fruit with the plastic wrap
+4. [23.800-29.600] cut the plastic wrap from the plastic wrap roll
+5. [29.600-32.900] place the plastic wrap roll on the table
+6. [32.900-57.006] wrap the plastic wrap around the plate of fruit until the plate is fully covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000008.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000008.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2601d1c6daadce61ba29970b83b2b774c8940ccb
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000008.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-2.800] pick up the roll of plastic wrap
+2. [2.800-9.100] pull the plastic wrap from the roll of plastic wrap
+3. [9.100-19.300] cover the plate with the plastic wrap
+4. [19.300-26.600] tear the plastic wrap from the roll of plastic wrap
+5. [26.600-32.500] place the roll of plastic wrap on the table
+6. [32.500-58.006] wrap the plate with the plastic wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000009.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000009.txt
new file mode 100644
index 0000000000000000000000000000000000000000..411e3426a90782d05d76efd9650d38e9ef749960
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000009.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap the plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-15.100] pull the plastic wrap out from the plastic wrap box over the plate
+2. [15.100-27.100] wrap the right side of the plastic wrap onto the plate
+3. [27.100-32.500] cut the plastic wrap using the slide cutter
+4. [32.500-46.700] cover the fruits on the plate with the plastic wrap
+5. [46.700-69.007] fold the remaining edges of the plastic wrap under the bottom of the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000010.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000010.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07f1dfc5c0a419dd3f52a163c520dfa14e178ca6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000010.txt
@@ -0,0 +1,11 @@
+Task:
+Wrap a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-2.800] move hands to the plastic wrap roll
+2. [2.800-9.100] pull the plastic wrap from the roll over the plate
+3. [9.100-25.100] cover the plate with the plastic wrap until the plate is fully covered
+4. [25.100-28.500] tear the plastic wrap from the roll
+5. [28.500-31.800] place the plastic wrap roll on the table
+6. [31.800-48.000] tuck the edges of the plastic wrap under the plate until the wrap is secured
+7. [48.000-52.005] move hands away from the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000011.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000011.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cac6592a391fc0511dae74c55a519d4b1723680
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000011.txt
@@ -0,0 +1,13 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-2.500] pick up the plastic wrap
+2. [2.500-7.600] cover the plate with the plastic wrap
+3. [7.600-13.900] tear off the plastic wrap
+4. [13.900-22.400] place the plastic wrap on the table
+5. [22.400-28.500] wrap the plastic wrap around the plate
+6. [28.500-32.500] rotate the plate
+7. [32.500-42.000] wrap the plastic wrap around the plate
+8. [42.000-45.400] rotate the plate
+9. [45.400-63.956] wrap the plastic wrap around the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000012.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000012.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4b5d345045775ff31b4ddbc47d206decb3ef8a3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000012.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap the plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] pull the plastic wrap towards the plate
+2. [5.500-7.900] move the right hand to the cutter
+3. [7.900-11.200] cut the plastic wrap using the cutter
+4. [11.200-20.400] wrap the plate with the plastic wrap
+5. [20.400-23.300] move the plastic wrap roll away from the plate
+6. [23.300-57.006] wrap the plate with the plastic wrap until it is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000013.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000013.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0758bf4fdff9f1874aeb9a32521d0c3f527e6c4e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000013.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a bowl of fruits with a plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] pick up the plastic wrap roll from the table
+2. [5.500-15.000] pull the plastic wrap from the roll over the bowl
+3. [15.000-19.100] unroll the plastic wrap to cover the bowl
+4. [19.100-23.000] tear the plastic wrap from the roll and place the plastic wrap roll on the table
+5. [23.000-44.004] press the plastic wrap onto the bowl until the bowl is sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000014.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec24256c0a91a1518a980cdb0f5a944094502f8c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000014.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-3.300] pick up the plastic wrap
+2. [3.300-6.600] pull out the plastic wrap
+3. [6.600-15.000] cover the plate with the plastic wrap
+4. [15.000-22.100] tear the plastic wrap
+5. [22.100-25.700] place the plastic wrap on the table
+6. [25.700-59.006] wrap the plate with the plastic wrap until the plate is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000015.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24f95e40188dba6960c2424fa07a1f77f84de803
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000015.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-4.200] move the plate closer to the edge of the table
+2. [4.200-6.800] pick up the plastic wrap box
+3. [6.800-14.500] pull out the plastic wrap from the plastic wrap box over the plate
+4. [14.500-27.600] cover the plate using the plastic wrap and sever the plastic wrap from the plastic wrap box
+5. [27.600-32.500] push the plastic wrap box to the left side of the table
+6. [32.500-56.006] wrap the edges of the plastic wrap around the plate until the plate is tightly sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000016.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000016.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f02fd8167629127e214bc179d8f6168d688e4bb
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000016.txt
@@ -0,0 +1,8 @@
+Task:
+Wrap a plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] move the plate of fruits closer
+2. [5.500-20.300] pull the plastic wrap from the plastic wrap roll over the plate of fruits until the plastic wrap is torn off
+3. [20.300-24.300] place the plastic wrap roll on the table
+4. [24.300-54.005] fold the edges of the plastic wrap under the plate of fruits until the plate of fruits is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000017.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000017.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7aaf3529c1f540327bafb6064246c968c54bb158
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000017.txt
@@ -0,0 +1,14 @@
+Task:
+Cover a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the plate to the middle of the table
+2. [5.000-7.500] pick up the plastic wrap
+3. [7.500-11.000] pull out the edge of the plastic wrap
+4. [11.000-15.000] cover the plate with the plastic wrap
+5. [15.000-18.000] cut the plastic wrap along the edge of the plate
+6. [18.000-24.500] place the plastic wrap on the table
+7. [24.500-28.500] press the plastic wrap around the edge of the plate
+8. [28.500-34.000] rotate the plate
+9. [34.000-41.000] continue pressing the plastic wrap around the edge of the plate
+10. [41.000-53.005] press the remaining plastic wrap down along the edges
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000018.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000018.txt
new file mode 100644
index 0000000000000000000000000000000000000000..091a3052b2f5ac44e1eb8f715805e7bb7ab7dece
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000018.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruits with plastic wrap
+
+Subtasks:
+1. [0.000-4.200] move hands towards the plastic wrap and the plate
+2. [4.200-6.200] grasp the plastic wrap
+3. [6.200-15.200] pull the plastic wrap over the plate
+4. [15.200-18.200] tear the plastic wrap
+5. [18.200-22.200] place the plastic wrap roll onto the table
+6. [22.200-42.004] wrap the plate with the plastic wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000019.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000019.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62fb678e9da74ac7c0c9695399bdf3c55c1a859d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000019.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-6.100] move the plastic wrap roll close to the plate
+2. [6.100-13.800] pull plastic wrap from the plastic wrap roll over the plate
+3. [13.800-19.100] tear the plastic wrap from the plastic wrap roll
+4. [19.100-23.500] place the plastic wrap roll on the table
+5. [23.500-44.004] wrap the plastic wrap around the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000020.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000020.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43016b82cb946d3cfc7a0a4bdeaf50878fb21dec
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000020.txt
@@ -0,0 +1,10 @@
+Task:
+Cover the plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] move the plate on the table
+2. [5.500-7.500] pick up the plastic wrap
+3. [7.500-13.500] pull out the plastic wrap over the plate
+4. [13.500-18.000] tear the plastic wrap
+5. [18.000-23.500] put down the plastic wrap
+6. [23.500-52.005] wrap the plate with the plastic wrap
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000021.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000021.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c943c6b9587e0dbbd3aab29f3e3287b96853ce7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000021.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruits and vegetables with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the plate of fruits and vegetables to the center of the table
+2. [5.000-8.000] pick up the plastic wrap roll and move the plastic wrap roll next to the plate
+3. [8.000-23.000] pull plastic wrap from the plastic wrap roll over the plate and tear the plastic wrap from the roll
+4. [23.000-25.000] place the plastic wrap roll on the table
+5. [25.000-46.005] tuck the edges of the plastic wrap under the plate until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000022.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3b57e56f0f6daf010719a9e40c7225b03d1727d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000022.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-4.800] move the plate
+2. [4.800-8.000] grasp the plastic wrap
+3. [8.000-11.200] pull the plastic wrap over the plate
+4. [11.200-15.600] tear the plastic wrap
+5. [15.600-48.005] seal the plastic wrap onto the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000023.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000023.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d88ea84b37a1ed2aeb92488f36d481a8918be23d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000023.txt
@@ -0,0 +1,8 @@
+Task:
+Wrap a plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-3.800] move the plate from the left side to the right side of the table
+2. [3.800-10.400] pull the plastic wrap from the wrap box to the edge of the plate
+3. [10.400-23.700] pull the plastic wrap over the plate until the plate is covered
+4. [23.700-56.006] wrap the plastic wrap around the plate to seal it
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000024.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000024.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f988184f6db822edc5ab34a0bdeb1bd02630481
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000024.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-3.300] pull the plate of fruit closer
+2. [3.300-8.100] pick up the plastic wrap
+3. [8.100-15.000] pull the plastic wrap over the plate of fruit
+4. [15.000-19.100] tear off the plastic wrap from the roll
+5. [19.100-49.005] wrap the plastic wrap around the plate of fruit tightly until the plate of fruit is fully covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000025.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000025.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a5ac9d6a6d69d21575df28759f2f973032f61e4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000025.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-1.200] move the plate to the center of the table
+2. [1.200-5.700] pick up the roll of plastic wrap
+3. [5.700-9.500] pull the plastic wrap from the roll over the plate
+4. [9.500-14.700] tear the plastic wrap from the roll
+5. [14.700-17.500] place the roll of plastic wrap on the table
+6. [17.500-54.005] secure the plastic wrap around the plate until the plate is fully covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000026.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000026.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98aa1d1b7e5d9c5df2651c0e2cb9d974d1246463
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000026.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] pick up the plate of fruit
+2. [5.500-7.500] move the plate of fruit to the plastic wrap
+3. [7.500-15.500] cover the plate of fruit with the plastic wrap and tear the plastic wrap
+4. [15.500-20.300] wrap the edges of the plastic wrap around the plate of fruit
+5. [20.300-23.900] move the plate of fruit to the center of the table
+6. [23.900-36.004] push the plate of fruit forward on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000027.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000027.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fe9950c7911f9ca0bab9b2f1933ac94af13a93fe
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000027.txt
@@ -0,0 +1,8 @@
+Task:
+Wrap a plate of fruit using plastic wrap.
+
+Subtasks:
+1. [0.000-4.800] pick up the plastic wrap roll
+2. [4.800-14.900] pull the plastic wrap from the plastic wrap roll over the plate of fruit
+3. [14.900-18.000] cut the plastic wrap from the plastic wrap roll and place the plastic wrap roll on the table
+4. [18.000-43.004] secure the plastic wrap around the plate of fruit
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000028.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000028.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19b4bfbb0c76e75d96c7ec8f7434e1ed3fb201dd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000028.txt
@@ -0,0 +1,8 @@
+Task:
+Cover a plate of food with plastic wrap
+
+Subtasks:
+1. [0.000-5.000] move the plate to the center of the table
+2. [5.000-9.000] pick up the plastic wrap roll
+3. [9.000-23.000] pull plastic wrap from the plastic wrap roll over the plate until the plate is covered
+4. [23.000-45.955] fold the edges of the plastic wrap under the plate until the plate is sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000029.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000029.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a818b973eb2c915323235c638830cf44ae149c14
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000029.txt
@@ -0,0 +1,10 @@
+Task:
+Cover a plate with plastic wrap.
+
+Subtasks:
+1. [0.000-7.000] pick up the plastic wrap roll from the table
+2. [7.000-10.000] move the plastic wrap roll above the plate
+3. [10.000-23.000] pull the plastic wrap from the plastic wrap roll over the plate until the plate is covered
+4. [23.000-26.000] tear the plastic wrap from the plastic wrap roll
+5. [26.000-31.000] place the plastic wrap roll onto the table
+6. [31.000-46.005] press the plastic wrap onto the plate until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000030.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000030.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4ced0a47bd867f7e439a7e4d9edd029c0991533
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000030.txt
@@ -0,0 +1,11 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the plastic wrap roll from the left side of the table to the right side of the table
+2. [5.000-9.000] move the plate of fruit to the center of the table
+3. [9.000-11.000] pick up the plastic wrap roll from the table
+4. [11.000-20.000] pull the plastic wrap from the plastic wrap roll over the plate of fruit
+5. [20.000-27.000] tear the plastic wrap from the plastic wrap roll
+6. [27.000-30.000] place the plastic wrap roll on the table
+7. [30.000-40.002] tuck the edges of the plastic wrap under the plate of fruit until the plate of fruit is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000031.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000031.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95479ffb9cd883aec5f665251356f73467b284f0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000031.txt
@@ -0,0 +1,9 @@
+Task:
+Cover a plate of fruit with plastic wrap
+
+Subtasks:
+1. [0.000-5.500] move the plate of fruit to the center of the table
+2. [5.500-10.500] pull the plastic wrap from the roll over the plate of fruit
+3. [10.500-20.500] tear the plastic wrap from the roll and place the plastic wrap onto the plate of fruit until the plate of fruit is covered
+4. [20.500-30.500] fold the edges of the plastic wrap under the plate of fruit
+5. [30.500-39.002] adjust the plate of fruit on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000032.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000032.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5a712cdbc75acb68ac70e5f3c559fe7394faae7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000032.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-3.300] move right hand to the plate
+2. [3.300-6.500] pick up the plastic wrap roll and pull the plastic wrap over the plate
+3. [6.500-12.000] wrap the plate with the plastic wrap
+4. [12.000-16.100] move the plastic wrap roll to the table
+5. [16.100-52.003] arrange the plastic wrap on the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000033.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000033.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f2a4903cce66ef1e84997f0a0a5d29c4c81c495
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000033.txt
@@ -0,0 +1,10 @@
+Task:
+Cover a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-4.600] move the plate closer to the center of the table
+2. [4.600-10.100] pull the plastic wrap from the roll over the plate
+3. [10.100-14.500] wrap the plastic wrap around the plate
+4. [14.500-19.300] cut the plastic wrap from the roll using the cutter on the box
+5. [19.300-23.300] place the plastic wrap roll on the table
+6. [23.300-47.002] smooth the plastic wrap around the edges of the plate until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000034.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000034.txt
new file mode 100644
index 0000000000000000000000000000000000000000..075818ce559ce8efaf973590ef75d953fb2f63b5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000034.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruits with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the plate on the table
+2. [5.000-9.000] pick up the plastic wrap roll from the table
+3. [9.000-13.000] unroll the plastic wrap from the plastic wrap roll over the plate
+4. [13.000-16.000] tear the plastic wrap from the plastic wrap roll and cover the plate with the plastic wrap
+5. [16.000-43.002] press the edges of the plastic wrap onto the plate until the plate is sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000035.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000035.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fbdb19dbfa04267818d1e9ad08fce70e44ee3ec
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000035.txt
@@ -0,0 +1,8 @@
+Task:
+Cover a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] move the plate of fruit to the center of the table
+2. [5.500-11.200] pull the plastic wrap from the roll over the plate of fruit
+3. [11.200-16.500] tear the plastic wrap from the roll and place the plastic wrap onto the plate of fruit
+4. [16.500-38.002] wrap the plastic wrap around the plate of fruit until the plate of fruit is fully covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000036.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000036.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8176bebab4827ed4f487073623914f97eb2a1be2
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000036.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruits and vegetables with plastic wrap.
+
+Subtasks:
+1. [0.000-4.000] pick up the plastic wrap roll from the table with the left hand
+2. [4.000-10.000] pull the plastic wrap from the plastic wrap roll over the plate using both hands
+3. [10.000-16.000] tear the plastic wrap from the plastic wrap roll using the right hand
+4. [16.000-20.000] place the plastic wrap roll onto the table
+5. [20.000-39.000] wrap the plastic wrap around the plate using both hands until the plate is fully covered
+6. [39.000-41.002] move both hands away from the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000037.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000037.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1894468827a1dab4524f988a7ec2e03252914dc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000037.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruits using plastic wrap.
+
+Subtasks:
+1. [0.000-4.000] pick up the roll of plastic wrap
+2. [4.000-9.000] pull the plastic wrap from the roll over the plate
+3. [9.000-15.000] tear the plastic wrap from the roll
+4. [15.000-20.000] place the roll of plastic wrap on the table
+5. [20.000-63.003] fold the edges of the plastic wrap under the plate until the plate is fully covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000038.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000038.txt
new file mode 100644
index 0000000000000000000000000000000000000000..421051258b57485d1ebe8eccd007e29ed9e5dd87
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000038.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a bowl of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.900] adjust the position of the bowl on the table
+2. [5.900-8.900] pick up the roll of plastic wrap from the table
+3. [8.900-14.700] pull the plastic wrap over the bowl until the bowl is covered
+4. [14.700-19.300] tear the plastic wrap from the roll
+5. [19.300-22.800] place the roll of plastic wrap on the table
+6. [22.800-59.003] fold the edges of the plastic wrap around the bowl until the bowl is sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000039.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000039.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a45b9deaf23811224f88c17963e239410730a391
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000039.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the right hand to the plastic wrap roll
+2. [5.000-14.000] pull the plastic wrap over the plate of fruit
+3. [14.000-19.000] tear the plastic wrap from the roll
+4. [19.000-24.000] place the plastic wrap roll on the table
+5. [24.000-59.003] tuck the edges of the plastic wrap under the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000040.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000040.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3fff6acdbacb3af9b35992fe4e55a6fb0ea2c19e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000040.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-5.500] pull the plastic wrap from the plastic wrap roll
+2. [5.500-11.000] cover the plate with the plastic wrap
+3. [11.000-18.000] tear the plastic wrap from the plastic wrap roll
+4. [18.000-22.000] place the plastic wrap roll on the table
+5. [22.000-36.002] wrap the plastic wrap around the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000041.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000041.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1377cc35bf738314fdfe69c2384c6decf062c373
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000041.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] move the plastic wrap roll and the plate of fruit into position on the table
+2. [5.000-10.000] pull the plastic wrap from the roll over the plate of fruit
+3. [10.000-17.000] cut the plastic wrap from the roll using the cutter on the box
+4. [17.000-20.000] place the cut plastic wrap onto the plate of fruit
+5. [20.000-45.002] fold the edges of the plastic wrap under the plate of fruit while rotating the plate until the plate of fruit is completely wrapped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000042.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000042.txt
new file mode 100644
index 0000000000000000000000000000000000000000..819bee5c0d902487bed02af151041f26c361595f
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000042.txt
@@ -0,0 +1,8 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] pull plastic wrap out from the plastic wrap roll
+2. [5.000-13.000] cover the plate of fruit with the plastic wrap
+3. [13.000-18.000] tear the plastic wrap off the plastic wrap roll
+4. [18.000-41.002] fold the edges of the plastic wrap under the plate of fruit until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000043.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000043.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ef991ee824ee0baf051f4e0c11b3d4a08be4cb6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000043.txt
@@ -0,0 +1,11 @@
+Task:
+Wrap a plate of food with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] pull the plate containing the food towards the user
+2. [5.000-8.300] grasp the roll of plastic wrap
+3. [8.300-15.600] pull the plastic wrap from the roll onto the plate until the plate is covered
+4. [15.600-23.300] tear the plastic wrap from the roll
+5. [23.300-30.600] tuck the edges of the plastic wrap under the plate
+6. [30.600-37.600] rotate the plate and tuck the remaining plastic wrap under the plate
+7. [37.600-51.003] press the edges of the plastic wrap under the plate until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000044.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000044.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf29cb4768c100194165d59a979bf4d6fb520754
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000044.txt
@@ -0,0 +1,9 @@
+Task:
+Cover a fruit plate with plastic wrap.
+
+Subtasks:
+1. [0.000-5.000] grab the plastic wrap roll
+2. [5.000-10.000] pull the plastic wrap over the fruit plate
+3. [10.000-21.000] cover the fruit plate with the plastic wrap
+4. [21.000-32.000] pick up the covered fruit plate
+5. [32.000-42.952] place the fruit plate on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000045.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000045.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc49270a437373bb3d34b09d6ebb9549e66be86
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000045.txt
@@ -0,0 +1,11 @@
+Task:
+Wrap a plate of food with plastic wrap
+
+Subtasks:
+1. [0.000-5.000] move the plate on the table
+2. [5.000-9.100] pick up the roll of plastic wrap from the table
+3. [9.100-15.000] pull the plastic wrap from the roll over the plate
+4. [15.000-18.000] tear the plastic wrap from the roll
+5. [18.000-20.300] place the roll of plastic wrap onto the table
+6. [20.300-39.500] fold the edges of the plastic wrap under the plate until the plate is completely wrapped
+7. [39.500-41.002] move hands away from the plate
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000046.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000046.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6dbf25efa5127148a1b334119fee505e9bf93e4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000046.txt
@@ -0,0 +1,8 @@
+Task:
+Cover a bowl of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-6.000] pull out the plastic wrap from the plastic wrap roll
+2. [6.000-19.000] cover the bowl with the plastic wrap
+3. [19.000-23.000] tear the plastic wrap from the plastic wrap roll
+4. [23.000-44.002] seal the edges of the plastic wrap onto the bowl until the bowl is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000047.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000047.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b4b643c0b58610fc4ded4a8ee73397afd7d2393
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000047.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-15.000] pull the plastic wrap from the box over the plate of fruit until the plate is covered
+2. [15.000-23.000] cut the plastic wrap from the box and place the box onto the table
+3. [23.000-32.000] fold the plastic wrap onto the edges of the plate
+4. [32.000-46.000] lift the plate and fold the plastic wrap under the plate until the plastic wrap is secured
+5. [46.000-58.003] place the plate onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000048.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000048.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fa9d273ba231018d813264f5a8b74fcbc4bfa8e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000048.txt
@@ -0,0 +1,9 @@
+Task:
+Cover a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-4.000] grasp the plastic wrap roll
+2. [4.000-9.000] pull the plastic wrap from the plastic wrap roll over the plate
+3. [9.000-13.000] cover the plate with the plastic wrap
+4. [13.000-17.000] tear the plastic wrap from the plastic wrap roll
+5. [17.000-42.002] wrap the plastic wrap around the plate until the plate is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000049.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000049.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6956960401bfb4acb301275bbfe7a306294eb4e6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000049.txt
@@ -0,0 +1,9 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-8.000] pull the plate of fruit closer
+2. [8.000-11.000] grasp the roll of plastic wrap
+3. [11.000-19.000] pull plastic wrap from the roll of plastic wrap over the plate of fruit
+4. [19.000-22.000] tear the plastic wrap from the roll of plastic wrap
+5. [22.000-46.002] fold the edges of the plastic wrap under the plate of fruit until the plate of fruit is completely sealed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000050.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000050.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de0c76397cd2bf0faae695a4b761334030784260
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000050.txt
@@ -0,0 +1,10 @@
+Task:
+Wrap a plate of fruit with plastic wrap.
+
+Subtasks:
+1. [0.000-2.800] move the plate on the table
+2. [2.800-4.900] pick up the plastic wrap roll from the table
+3. [4.900-13.500] pull the plastic wrap from the roll over the plate
+4. [13.500-20.300] tear the plastic wrap from the roll and place the roll on the table
+5. [20.300-27.500] fold the edges of the plastic wrap under the plate
+6. [27.500-47.002] rotate the plate and press the plastic wrap against the plate to seal it
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000051.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000051.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a42fbc6cbb2b317ad9fae43430ef0a208bcf1773
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000051.txt
@@ -0,0 +1,19 @@
+Task:
+Remove batteries from a remote and a mouse and store them in a battery box.
+
+Subtasks:
+1. [0.000-7.000] pick up the remote from the table and take the cover off the remote
+2. [7.000-16.000] take the first battery out of the remote
+3. [16.000-27.000] place the first battery into the battery box
+4. [27.000-38.000] take the second battery out of the remote
+5. [38.000-46.000] place the second battery into the battery box
+6. [46.000-56.000] put the cover back onto the remote
+7. [56.000-66.000] place the remote on the table
+8. [66.000-77.000] pick up the mouse from the table and take the cover off the mouse
+9. [77.000-85.000] take the battery out of the mouse
+10. [85.000-102.000] put the cover back onto the mouse
+11. [102.000-108.000] place the mouse on the table
+12. [108.000-113.000] place the battery into the battery box
+13. [113.000-120.000] close the battery box
+14. [120.000-124.000] place the battery box on the table
+15. [124.000-127.000] press a key on the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000052.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000052.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a5c75b81253956501d1bcb21c5daf32f2a54042
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000052.txt
@@ -0,0 +1,15 @@
+Task:
+Remove batteries from a computer mouse and a remote control and put them into a plastic bag.
+
+Subtasks:
+1. [0.000-6.000] pick up the computer mouse and take off its back cover
+2. [6.000-10.400] take out a battery from the computer mouse
+3. [10.400-36.600] put the back cover onto the computer mouse
+4. [36.600-43.100] put down the computer mouse
+5. [43.100-59.800] pick up the remote control and take off its back cover
+6. [59.800-74.000] take out a battery from the remote control
+7. [74.000-92.400] put the back cover onto the remote control
+8. [92.400-95.700] put down the remote control
+9. [95.700-106.800] pick up the plastic bag and open it
+10. [106.800-120.400] put the batteries into the plastic bag
+11. [120.400-124.000] put down the plastic bag
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000053.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000053.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ec1c5c4e63a1c1595d50e983a47baef687f9e81
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000053.txt
@@ -0,0 +1,14 @@
+Task:
+Replace the batteries in a remote and a mouse.
+
+Subtasks:
+1. [0.000-8.500] take off the back cover from the remote
+2. [8.500-17.500] take out two batteries from the remote
+3. [17.500-34.500] take out two batteries from the battery box
+4. [34.500-51.500] put two batteries into the remote
+5. [51.500-57.500] put the back cover onto the remote
+6. [57.500-64.500] take off the back cover from the mouse
+7. [64.500-72.500] take out a battery from the mouse
+8. [72.500-81.500] put a battery into the mouse
+9. [81.500-85.500] put the back cover onto the mouse
+10. [85.500-107.000] put three batteries into the battery box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000054.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000054.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdc276760bfb0f40f5571a68bb151fa7a4392e5d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000054.txt
@@ -0,0 +1,26 @@
+Task:
+Replace batteries in a remote and a mouse using batteries from a battery case.
+
+Subtasks:
+1. [0.000-4.000] pick up the battery case
+2. [4.000-8.000] take a black battery out of the battery case
+3. [8.000-14.000] place the black battery on the table
+4. [14.000-18.000] take a black battery out of the battery case
+5. [18.000-27.000] place the black battery on the table
+6. [27.000-30.000] take a silver battery out of the battery case
+7. [30.000-34.000] place the silver battery on the table
+8. [34.000-38.000] pick up the remote
+9. [38.000-46.000] put the silver battery into the remote
+10. [46.000-54.000] take a silver battery out of the remote
+11. [54.000-57.000] place the remote on the table
+12. [57.000-60.000] pick up the mouse
+13. [60.000-66.000] take the battery cover off the mouse
+14. [66.000-69.000] place the battery cover on the table
+15. [69.000-73.000] pick up a black battery
+16. [73.000-81.000] put the black battery into the mouse
+17. [81.000-87.000] put the battery cover onto the mouse
+18. [87.000-89.000] place the mouse on the table
+19. [89.000-93.000] pick up a silver battery
+20. [93.000-96.000] pick up the battery case
+21. [96.000-106.000] put the silver battery into the battery case
+22. [106.000-112.000] place the battery case on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000055.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000055.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58e09f3f582d71fd728329368cf260805490f78e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000055.txt
@@ -0,0 +1,12 @@
+Task:
+Replace the batteries in a computer mouse and a remote control.
+
+Subtasks:
+1. [0.000-10.000] pick up the computer mouse, remove the battery cover from the computer mouse, and remove the battery from the computer mouse
+2. [10.000-15.000] put down the computer mouse and the battery onto the table
+3. [15.000-35.000] pick up the battery box, open the battery box, place the battery into the battery box, take a new battery from the battery box, and put down the battery box onto the table
+4. [35.000-51.000] pick up the computer mouse, insert the new battery into the computer mouse, place the battery cover onto the computer mouse, and put down the computer mouse onto the table
+5. [51.000-65.000] pick up the remote control, remove the battery cover from the remote control, and remove the first battery from the remote control
+6. [65.000-76.000] remove the second battery from the remote control and put down the remote control and the two batteries onto the table
+7. [76.000-91.000] pick up the remote control and two new batteries from the table, insert the two new batteries into the remote control, place the battery cover onto the remote control, and put down the remote control onto the table
+8. [91.000-115.000] pick up the battery box and the two old batteries from the table, insert the two old batteries into the battery box, close the battery box, and put down the battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000056.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000056.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bcf40c0ed0f1454d99fef125acb979debdb668c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000056.txt
@@ -0,0 +1,20 @@
+Task:
+Remove batteries from the mouse and the remote control and place them into the battery case.
+
+Subtasks:
+1. [0.000-4.100] pick up the mouse
+2. [4.100-9.600] remove the battery cover from the mouse
+3. [9.600-12.200] remove the battery from the mouse
+4. [12.200-20.100] pick up the battery case and open it
+5. [20.100-23.700] place the battery into the battery case
+6. [23.700-27.900] close the battery case and place it on the bed
+7. [27.900-35.300] pick up the mouse cover
+8. [35.300-44.500] attach the mouse cover to the mouse
+9. [44.500-47.300] place the mouse on the bed and pick up the remote control
+10. [47.300-54.800] remove the battery cover from the remote control
+11. [54.800-65.000] remove the first battery from the remote control and place it on the bed
+12. [65.000-75.100] pick up the battery case, open it, and place it on the bed
+13. [75.100-88.500] pick up the remote control, remove the second battery, and place the remote control and the battery on the bed
+14. [88.500-105.100] pick up the remote control and its cover, attach the cover to the remote control, and place the remote control on the bed
+15. [105.100-120.400] pick up the two batteries and the battery case, and place the batteries into the battery case
+16. [120.400-132.000] close the battery case and place it on the bed
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000057.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000057.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e0bc528b381eb492f8ad2e344d3c2abfaf35bd5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000057.txt
@@ -0,0 +1,25 @@
+Task:
+Replace the batteries in a remote control and a computer mouse with new ones from a battery box, and store the old batteries in the battery box.
+
+Subtasks:
+1. [0.000-3.000] pick up the remote control from the table
+2. [3.000-8.000] remove the battery cover from the remote control
+3. [8.000-16.000] take the old batteries out of the remote control
+4. [16.000-20.000] place the remote control and the battery cover onto the table
+5. [20.000-25.000] pick up the battery box from the table
+6. [25.000-29.000] open the battery box
+7. [29.000-41.000] take out two new batteries from the battery box
+8. [41.000-46.000] place the battery box onto the table and pick up the remote control from the table
+9. [46.000-70.000] insert two new batteries into the remote control
+10. [70.000-78.000] put the battery cover back onto the remote control
+11. [78.000-82.000] place the remote control onto the table
+12. [82.000-85.000] pick up the computer mouse from the table
+13. [85.000-91.000] remove the battery cover from the computer mouse
+14. [91.000-94.000] take the old battery out of the computer mouse
+15. [94.000-100.000] pick up the battery box from the table and take out a new battery from the battery box
+16. [100.000-105.000] insert the new battery into the computer mouse
+17. [105.000-112.000] put the battery cover back onto the computer mouse
+18. [112.000-115.000] place the computer mouse onto the table
+19. [115.000-124.000] pick up the old batteries and the battery box from the table
+20. [124.000-133.000] insert the old batteries into the battery box and close the battery box
+21. [133.000-136.000] place the battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000058.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000058.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87df5d0df78df1006e3d93fd2d760bfb6e3aae1a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000058.txt
@@ -0,0 +1,17 @@
+Task:
+Insert batteries into a remote and a computer mouse, and store the remaining battery in a plastic box.
+
+Subtasks:
+1. [0.000-9.100] remove the back cover from the remote
+2. [9.100-21.000] take two batteries from the plastic box
+3. [21.000-35.600] close the plastic box
+4. [35.600-42.400] insert a battery into the remote
+5. [42.400-49.300] insert another battery into the remote
+6. [49.300-55.400] put the back cover onto the remote
+7. [55.400-61.100] place the remote on the table
+8. [61.100-70.800] remove the bottom cover from the mouse
+9. [70.800-83.900] insert a battery into the mouse
+10. [83.900-92.500] put the bottom cover onto the mouse
+11. [92.500-97.400] place the mouse on the table
+12. [97.400-110.100] put a battery into the plastic box
+13. [110.100-120.000] close the plastic box and place the plastic box on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000059.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000059.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3904d8d314b6256c4dc11c39a47925784310addd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000059.txt
@@ -0,0 +1,12 @@
+Task:
+Remove batteries from a mouse and a remote control and store them in a battery case.
+
+Subtasks:
+1. [0.000-8.000] take a battery out of the mouse
+2. [8.000-29.000] put the battery into the battery case
+3. [29.000-38.000] take another battery out of the mouse
+4. [38.000-45.000] put the battery into the battery case
+5. [45.000-56.000] take a battery out of the remote control
+6. [56.000-63.000] put the battery into the battery case
+7. [63.000-78.000] take another battery out of the remote control and put the cover back onto the remote control
+8. [78.000-103.950] put the battery into the battery case
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000060.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000060.txt
new file mode 100644
index 0000000000000000000000000000000000000000..927bb7cf35e4b1ad3fc083654f1a0c6c4e036826
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000060.txt
@@ -0,0 +1,10 @@
+Task:
+Remove batteries from a mouse and a remote control and place them into a battery charger.
+
+Subtasks:
+1. [0.000-13.600] remove the battery from the mouse
+2. [13.600-32.900] insert the battery into the battery charger
+3. [32.900-52.700] remove the cover from the mouse
+4. [52.700-69.300] remove the batteries from the remote control
+5. [69.300-95.000] insert the batteries into the battery charger
+6. [95.000-119.000] place the cover onto the battery charger
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000061.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000061.txt
new file mode 100644
index 0000000000000000000000000000000000000000..508803e4da48fffcac4054f67e4beb2d902f125c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000061.txt
@@ -0,0 +1,14 @@
+Task:
+Insert batteries into a remote control and store the remaining battery.
+
+Subtasks:
+1. [0.000-0.100] pick up the computer mouse from the table and remove the battery cover from the computer mouse
+2. [0.100-0.130] place the computer mouse and the battery cover onto the table
+3. [0.130-0.230] pick up the battery box from the table and open the battery box
+4. [0.230-0.310] pour batteries from the battery box onto the table until the battery box is empty, and place the battery box onto the table
+5. [0.310-0.480] pick up the computer mouse and a battery from the table, insert the battery into the computer mouse, remove the battery from the computer mouse, and place the battery and the computer mouse onto the table
+6. [0.480-0.570] pick up the remote control from the table, remove the battery cover from the remote control, and place the battery cover onto the table
+7. [0.570-1.100] pick up two batteries from the table and insert the batteries into the remote control
+8. [1.100-1.260] pick up the battery cover from the table, attach the battery cover to the remote control, and place the remote control onto the table
+9. [1.260-1.450] pick up the battery box from the table, pick up the remaining battery from the table, place the remaining battery into the battery box, and close the battery box
+10. [1.450-112.639] place the battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000062.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000062.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25ccddaa9112804305d595bf6e02f2eaef996ba3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000062.txt
@@ -0,0 +1,13 @@
+Task:
+Replace the batteries in a remote control.
+
+Subtasks:
+1. [0.000-13.000] hold the remote control and the battery pack, and place the remote control onto the table
+2. [13.000-49.000] tear the plastic packaging of the battery pack using both hands until the packaging is partially opened
+3. [49.000-61.000] pick up the remote control from the table, remove the back cover from the remote control, and place the back cover and the remote control onto the table
+4. [61.000-71.000] pick up the battery pack from the table, take out two batteries from the battery pack, and place the plastic packaging and the batteries onto the table
+5. [71.000-78.000] pick up the first battery from the table and insert the first battery into the remote control
+6. [78.000-85.000] pick up the second battery from the table and insert the second battery into the remote control
+7. [85.000-94.000] pick up the back cover from the table, attach the back cover onto the remote control until the back cover is securely closed, and place the remote control onto the table
+8. [94.000-109.000] pick up the plastic packaging from the table and crumple the plastic packaging using both hands
+9. [109.000-114.039] throw the crumpled plastic packaging into the trash bin
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000063.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000063.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ad7455dc2371a42c2b52f0f58aa0323cc57c8b4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000063.txt
@@ -0,0 +1,22 @@
+Task:
+Take out batteries from a remote control and a mouse, and store them in a battery box.
+
+Subtasks:
+1. [0.000-4.400] pick up the battery box
+2. [4.400-9.000] take off the cover of the battery box
+3. [9.000-15.300] take out the batteries from the battery box
+4. [15.300-18.400] place the battery box on the table
+5. [18.400-23.300] pick up the remote control
+6. [23.300-26.500] take off the back cover of the remote control
+7. [26.500-32.500] take out the batteries from the remote control
+8. [32.500-54.000] put the back cover on the remote control
+9. [54.000-59.900] place the remote control on the table
+10. [59.900-73.100] pick up the mouse
+11. [73.100-77.000] take off the cover of the mouse
+12. [77.000-81.300] take out the battery from the mouse
+13. [81.300-91.500] put the cover on the mouse
+14. [91.500-95.000] place the mouse on the table
+15. [95.000-99.400] pick up the battery box
+16. [99.400-105.800] put the batteries into the battery box
+17. [105.800-111.400] put the cover on the battery box
+18. [111.400-118.688] place the battery box on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000064.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000064.txt
new file mode 100644
index 0000000000000000000000000000000000000000..504150654bc5a0614fbeaba64cc87ab119affaff
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000064.txt
@@ -0,0 +1,13 @@
+Task:
+Replace the batteries in the mouse and the remote control.
+
+Subtasks:
+1. [0.000-14.800] take off the back cover of the mouse
+2. [14.800-23.700] open the battery box and take out a battery
+3. [23.700-34.900] insert the battery into the mouse
+4. [34.900-48.400] put the back cover onto the mouse and place the mouse on the table
+5. [48.400-64.800] take off the back cover of the remote control
+6. [64.800-79.600] take out two batteries from the remote control
+7. [79.600-109.900] take out two batteries from the battery box and insert the batteries into the remote control
+8. [109.900-119.800] put the back cover onto the remote control and place the remote control on the table
+9. [119.800-137.286] close the battery box and place the battery box on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000065.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000065.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3614e9e9f5ff544f8e940005e02c9a0fa5a0f84f
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000065.txt
@@ -0,0 +1,13 @@
+Task:
+Replace the battery in a computer mouse.
+
+Subtasks:
+1. [0.000-10.000] remove a battery from the remote control
+2. [10.000-32.000] remove batteries from the plastic case
+3. [32.000-46.000] remove the back cover from the mouse
+4. [46.000-54.000] remove the battery from the mouse
+5. [54.000-66.000] insert a battery into the mouse
+6. [66.000-81.000] remove the battery from the mouse
+7. [81.000-104.000] insert a battery into the mouse
+8. [104.000-108.000] attach the back cover onto the mouse
+9. [108.000-138.786] place the batteries into the plastic case
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000066.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000066.txt
new file mode 100644
index 0000000000000000000000000000000000000000..743ae59711691b5dd94a40f3ed2f01e44445bb0a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000066.txt
@@ -0,0 +1,11 @@
+Task:
+Remove old batteries from a remote control to store them in a box, and install new batteries into a mouse.
+
+Subtasks:
+1. [0.000-24.000] pick up the remote control from the table and remove the back cover from the remote control
+2. [24.000-37.000] remove the batteries from the remote control
+3. [37.000-47.000] place the batteries into the battery box and close the battery box
+4. [47.000-83.000] attach the back cover onto the remote control and place the remote control on the table
+5. [83.000-102.000] pick up the mouse from the table and remove the back cover from the mouse
+6. [102.000-117.000] pick up the new batteries from the table and insert the new batteries into the mouse
+7. [117.000-145.485] attach the back cover onto the mouse and place the mouse on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000067.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000067.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4bdd52e8b6b4decf785b5e68308f6ba579c4a50
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000067.txt
@@ -0,0 +1,20 @@
+Task:
+Replace the batteries in a remote and a mouse.
+
+Subtasks:
+1. [0.000-6.400] pick up the remote from the table and open the battery cover of the remote
+2. [6.400-10.400] remove the battery from the remote and place the battery onto the table
+3. [10.400-16.100] close the battery cover of the remote and place the remote onto the table
+4. [16.100-23.900] pick up the battery case from the table and open the battery case
+5. [23.900-38.600] remove batteries from the battery case and place the batteries onto the table
+6. [38.600-43.200] close the battery case and place the battery case onto the table
+7. [43.200-49.400] pick up the remote from the table and open the battery cover of the remote
+8. [49.400-55.800] pick up a battery from the table and insert the battery into the remote
+9. [55.800-64.100] close the battery cover of the remote and place the remote onto the table
+10. [64.100-68.500] pick up the mouse from the table and open the battery cover of the mouse
+11. [68.500-80.600] remove two batteries from the mouse and place the batteries onto the table
+12. [80.600-94.200] pick up two batteries from the table and insert the batteries into the mouse
+13. [94.200-101.500] close the battery cover of the mouse and place the mouse onto the table
+14. [101.500-107.400] pick up the battery case from the table and open the battery case
+15. [107.400-119.000] pick up the batteries from the table and place the batteries into the battery case
+16. [119.000-130.237] close the battery case and place the battery case onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000068.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000068.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0afc0bb15640575cdbe72b95982a8e7b7d5fe681
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000068.txt
@@ -0,0 +1,15 @@
+Task:
+Replace the batteries in a remote control.
+
+Subtasks:
+1. [0.000-36.000] pick up the battery box from the table and remove the lid from the battery box
+2. [36.000-55.000] remove two batteries from the battery box and place the batteries and the battery box onto the table
+3. [55.000-72.000] pick up the remote control from the table and remove the back cover from the remote control
+4. [72.000-81.000] remove two batteries from the remote control and place the batteries and the back cover onto the table
+5. [81.000-95.000] pick up a battery from the table and insert the battery into the remote control
+6. [95.000-103.000] pick up another battery from the table and insert the battery into the remote control
+7. [103.000-131.000] pick up the back cover from the table and attach the back cover to the remote control
+8. [131.000-138.000] place the remote control onto the table
+9. [138.000-155.000] pick up two batteries from the table and place the batteries into the battery box
+10. [155.000-190.000] pick up the lid from the table and attach the lid to the battery box
+11. [190.000-199.930] place the battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000069.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000069.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2348c3728293e32d28a1393aa93206a16bca0ae7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000069.txt
@@ -0,0 +1,16 @@
+Task:
+Insert batteries into a mouse and a remote control, and store the remote control in a plastic case.
+
+Subtasks:
+1. [0.000-11.000] pick up the mouse from the table and place the mouse on the table
+2. [11.000-20.000] pick up the plastic case from the table and open the plastic case
+3. [20.000-32.000] take two batteries from the plastic case and place the batteries on the table
+4. [32.000-51.000] close the plastic case and place the plastic case on the table
+5. [51.000-62.000] pick up the mouse from the table, remove the battery cover from the mouse, and place the battery cover on the table
+6. [62.000-77.000] pick up two batteries from the table and insert the batteries into the mouse
+7. [77.000-86.000] pick up the battery cover from the table, attach the battery cover to the mouse, and place the mouse on the table
+8. [86.000-94.000] pick up the remote from the table, remove the battery cover from the remote, and place the battery cover on the table
+9. [94.000-105.000] pick up two batteries from the table and insert the batteries into the remote
+10. [105.000-117.000] pick up the battery cover from the table, attach the battery cover to the remote, and place the remote on the table
+11. [117.000-139.000] pick up the remote and the plastic case from the table, open the plastic case, and place the remote into the plastic case
+12. [139.000-151.785] close the plastic case and place the plastic case on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000070.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000070.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92127379052b0484fd0ac7851c64a49a8b551afd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000070.txt
@@ -0,0 +1,22 @@
+Task:
+Replace the batteries in a remote control and a mouse.
+
+Subtasks:
+1. [0.000-7.000] reach for the remote control on the table
+2. [7.000-15.000] pick up the remote control from the table and remove the battery cover from the remote control
+3. [15.000-25.000] remove the battery from the remote control and place the battery and the remote control onto the table
+4. [25.000-34.000] pick up the mouse from the table and remove the battery cover from the mouse
+5. [34.000-43.000] remove the first battery from the mouse and place the first battery onto the table
+6. [43.000-56.000] remove the second battery from the mouse and place the second battery and the mouse onto the table
+7. [56.000-68.000] pick up the remote control and the remote control battery cover from the table and attach the remote control battery cover onto the remote control
+8. [68.000-77.000] remove the remote control battery cover from the remote control
+9. [77.000-90.000] pick up a new battery from the table and insert the new battery into the remote control
+10. [90.000-99.000] attach the remote control battery cover onto the remote control and place the remote control onto the table
+11. [99.000-110.000] pick up the mouse and a new battery from the table
+12. [110.000-119.000] insert the new battery into the mouse
+13. [119.000-128.000] pick up another new battery from the table and insert the new battery into the mouse
+14. [128.000-149.000] pick up the mouse battery cover from the table, attach the mouse battery cover onto the mouse, and place the mouse onto the table
+15. [149.000-163.000] pick up the battery case and an old battery from the table
+16. [163.000-168.000] place the old battery into the battery case
+17. [168.000-174.000] pick up another old battery from the table and place the old battery into the battery case
+18. [174.000-183.782] close the battery case and place the battery case onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000071.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000071.txt
new file mode 100644
index 0000000000000000000000000000000000000000..330e0bc67f570c5df8571eb0bb082f4041ed8a1d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000071.txt
@@ -0,0 +1,10 @@
+Task:
+Replace the batteries in the mouse and the remote control.
+
+Subtasks:
+1. [0.000-10.000] pick up the mouse, take the battery out of the mouse, and place the mouse on the table
+2. [10.000-41.000] pick up the battery box, put two batteries into the battery box, and place the battery box on the table
+3. [41.000-60.000] pick up the mouse, put a battery into the mouse, and place the mouse on the table
+4. [60.000-73.000] pick up the remote control, take the battery out of the remote control, and place the remote control on the table
+5. [73.000-93.000] pick up the remote control, put a battery into the remote control, and place the remote control on the table
+6. [93.000-112.889] pick up the battery box, take two batteries out of the battery box, and place the battery box on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000072.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000072.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8eab4a11b4fb49c01f119ebe69c8d6b948a52257
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000072.txt
@@ -0,0 +1,13 @@
+Task:
+Replace the batteries in a remote and dispose of the old batteries in the trash bin.
+
+Subtasks:
+1. [0.000-6.000] pick up the remote from the table
+2. [6.000-11.000] remove the battery cover from the remote
+3. [11.000-38.000] remove the first battery from the remote
+4. [38.000-52.000] remove the second battery from the remote
+5. [52.000-73.000] insert a new battery into the remote
+6. [73.000-87.000] insert another new battery into the remote
+7. [87.000-92.000] attach the battery cover onto the remote
+8. [92.000-106.000] place the removed batteries into the battery box
+9. [106.000-113.339] throw the battery box into the trash bin
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000073.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000073.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a22c8369e9f08325575c0a26be592b72ab57bdc5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000073.txt
@@ -0,0 +1,16 @@
+Task:
+Remove a battery from an action camera, insert batteries into a remote control, and reassemble the action camera.
+
+Subtasks:
+1. [0.000-11.400] pick up the remote control from the table and place the remote control back on the table
+2. [11.400-23.800] pick up the action camera from the table and open the waterproof case
+3. [23.800-29.300] take the action camera out of the waterproof case
+4. [29.300-41.200] remove the battery from the action camera and place the battery and the action camera on the table
+5. [41.200-46.000] pick up the remote control and a battery from the table
+6. [46.000-53.500] insert the battery into the remote control
+7. [53.500-62.800] pick up another battery from the table and insert the battery into the remote control
+8. [62.800-83.300] pick up the battery cover from the table and attach the battery cover to the remote control
+9. [83.300-86.800] place the remote control on the table
+10. [86.800-93.500] pick up the action camera and the waterproof case from the table and insert the action camera into the waterproof case
+11. [93.500-103.800] close the waterproof case
+12. [103.800-111.689] place the action camera on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000074.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000074.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da923c8a6870b8444a35597c39ec10f6901e9c96
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000074.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000074.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000075.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000075.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c2f596b1c80faed3f1ea981861209cae4a1b3dc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000075.txt
@@ -0,0 +1,11 @@
+Task:
+Remove batteries from a remote control and a mouse, and insert new batteries into the remote control.
+
+Subtasks:
+1. [0.000-16.800] pick up the remote control from the table, remove the back cover from the remote control, and take two batteries out of the remote control
+2. [16.800-34.900] pick up the mouse from the table, remove the back cover from the mouse, and take one battery out of the mouse
+3. [34.900-48.300] move the three used batteries from the center of the table to the right side of the table
+4. [48.300-56.800] attach the back cover onto the mouse and place the mouse onto the table
+5. [56.800-64.500] open the plastic battery box on the table
+6. [64.500-85.100] pick up the remote control, take two new batteries from the plastic battery box, insert the batteries into the remote control, attach the back cover onto the remote control, and place the remote control onto the table
+7. [85.100-98.150] close the plastic battery box and place the plastic battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000076.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000076.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eec8440d0096afd45148102dd7a8b2edd8193d1a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000076.txt
@@ -0,0 +1,14 @@
+Task:
+Replace the batteries in a remote control and a computer mouse.
+
+Subtasks:
+1. [0.000-27.000] remove two batteries from the battery case
+2. [27.000-35.000] pick up the remote control and remove the back cover from the remote control
+3. [35.000-45.000] remove a battery from the remote control
+4. [45.000-52.000] remove another battery from the remote control
+5. [52.000-57.000] pick up the mouse, remove the cover from the mouse, and remove the battery from the mouse
+6. [57.000-63.000] insert a battery into the mouse and place the cover onto the mouse
+7. [63.000-72.000] insert a battery into the battery case
+8. [72.000-80.000] pick up the remote control and insert a battery into the remote control
+9. [80.000-87.000] insert another battery into the remote control and place the cover onto the remote control
+10. [87.000-106.700] insert the remaining batteries into the battery case and close the battery case
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000077.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000077.txt
new file mode 100644
index 0000000000000000000000000000000000000000..557adfb18fd7086bb4fd513e90e1081a60c65a27
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000077.txt
@@ -0,0 +1,14 @@
+Task:
+Replace the batteries in the black device and the computer mouse.
+
+Subtasks:
+1. [0.000-3.000] move hands from the laptop to the table
+2. [3.000-13.500] pick up the black device, remove a battery from the black device, and place the black device and the battery onto the table
+3. [13.500-27.500] pick up the black device, remove another battery from the black device, and place the black device and the battery onto the table
+4. [27.500-38.000] open the battery box, place the two batteries from the table into the battery box, and close the battery box
+5. [38.000-54.500] pick up the mouse, open the battery cover of the mouse, remove a battery from the mouse, and place the mouse and the battery onto the table
+6. [54.500-61.500] open the battery box, take a battery from the battery box, and insert the battery into the black device
+7. [61.500-72.500] take another battery from the battery box, insert the battery into the black device, and close the battery cover of the black device
+8. [72.500-82.000] pick up a battery from the table, insert the battery into the mouse, and close the battery cover of the mouse
+9. [82.000-90.000] pick up a battery from the table, place the battery into the battery box, and close the battery box
+10. [90.000-93.500] move hands from the table to the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000078.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000078.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33d5fd7c01cdb88e09f200a2237850a516be7dd1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000078.txt
@@ -0,0 +1,20 @@
+Task:
+Replace the batteries of a remote control and a mouse.
+
+Subtasks:
+1. [0.000-6.000] pick up the remote control
+2. [6.000-10.000] take off the battery cover from the remote control
+3. [10.000-15.000] remove the batteries from the remote control
+4. [15.000-20.000] pick up the mouse
+5. [20.000-24.000] take off the battery cover from the mouse
+6. [24.000-28.000] remove the battery from the mouse
+7. [28.000-39.000] open the battery box
+8. [39.000-43.000] take out a battery from the battery box
+9. [43.000-47.000] put the battery into the mouse
+10. [47.000-55.000] attach the battery cover to the mouse
+11. [55.000-62.000] pick up the remote control
+12. [62.000-69.000] put batteries into the remote control
+13. [69.000-74.000] attach the battery cover to the remote control
+14. [74.000-81.000] pick up the old batteries from the table
+15. [81.000-85.000] put the old batteries into the battery box
+16. [85.000-95.450] close the battery box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000079.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000079.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31eb89716a59575e05ab910f3c3d7adbc52c4e78
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000079.txt
@@ -0,0 +1,14 @@
+Task:
+Replace the batteries in a remote and a mouse.
+
+Subtasks:
+1. [0.000-7.000] pick up the remote from the table and remove the battery cover from the remote
+2. [7.000-19.000] remove two batteries from the remote
+3. [19.000-23.000] place the remote and the two batteries onto the table
+4. [23.000-31.000] pick up the mouse from the table, remove the battery cover from the mouse, and remove the battery from the mouse
+5. [31.000-34.000] place the mouse and the battery onto the table
+6. [34.000-50.000] pick up the battery box from the table, open the battery box, and take out three new batteries from the battery box
+7. [50.000-65.000] pick up the remote and two new batteries from the table, insert the two new batteries into the remote, attach the battery cover to the remote, and place the remote onto the table
+8. [65.000-77.000] pick up the mouse and one new battery from the table, insert the new battery into the mouse, attach the battery cover to the mouse, and place the mouse onto the table
+9. [77.000-92.000] pick up the three old batteries from the table, insert the three old batteries into the battery box, and close the battery box
+10. [92.000-98.850] place the battery box onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000080.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000080.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fe71f2f7bba8802752586abbe7e06c13c5ad5cc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000080.txt
@@ -0,0 +1,10 @@
+Task:
+Replace the batteries in a remote control and a mouse and store the batteries in a battery box.
+
+Subtasks:
+1. [0.000-9.000] pick up the remote control and remove the old batteries from the remote control until the remote control is placed on the table
+2. [9.000-25.000] pick up the mouse and remove the old battery from the mouse until the mouse is placed on the table
+3. [25.000-38.000] pick up the battery box and place the old batteries into the battery box until the battery box is closed and placed on the table
+4. [38.000-53.000] pick up the remote control and insert new batteries into the remote control until the back cover is placed onto the remote control and the remote control is placed on the table
+5. [53.000-64.000] pick up the mouse and insert a new battery into the mouse until the back cover is placed onto the mouse and the mouse is placed on the table
+6. [64.000-86.800] pick up the remaining batteries and place the remaining batteries into the battery box until the battery box is closed and placed on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000081.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000081.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7d5426af85d7c973faa93713a11ef2b99c9f37b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000081.txt
@@ -0,0 +1,18 @@
+Task:
+Transfer batteries between multiple electronic devices and organize the batteries in a plastic storage box.
+
+Subtasks:
+1. [0.000-11.500] pick up the mouse from the table and remove the back cover from the mouse
+2. [11.500-16.500] remove the battery from the mouse and place the battery into the plastic box
+3. [16.500-23.500] attach the back cover to the mouse and place the mouse onto the table
+4. [23.500-30.000] pick up the remote control from the table and remove the back cover from the remote control
+5. [30.000-36.500] take batteries from the plastic box and insert the batteries into the remote control
+6. [36.500-44.000] attach the back cover to the remote control and place the remote control onto the table
+7. [44.000-50.500] pick up the round device from the table and remove the back cover from the round device
+8. [50.500-59.500] remove the battery from the round device and place the battery into the plastic box
+9. [59.500-63.500] attach the back cover to the round device and place the round device onto the table
+10. [63.500-68.500] pick up the remote control from the table and remove the back cover from the remote control
+11. [68.500-75.500] remove the batteries from the remote control and place the batteries into the plastic box
+12. [75.500-81.000] attach the back cover to the remote control and place the remote control onto the table
+13. [81.000-90.000] pick up the loose battery from the table, place the loose battery into the plastic box, and close the plastic box
+14. [90.000-94.000] move to the laptop and interact with the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000082.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000082.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9cacdffb19da64317d3d0c78caef9864d537a64
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000082.txt
@@ -0,0 +1,19 @@
+Task:
+Replace the batteries in a mouse and a remote control.
+
+Subtasks:
+1. [0.000-9.000] take off the back cover of the mouse
+2. [9.000-15.000] take off the back cover of the remote control
+3. [15.000-19.000] take out a battery from the remote control
+4. [19.000-23.000] take out another battery from the remote control
+5. [23.000-28.000] take out the battery from the mouse
+6. [28.000-34.000] put a battery into the battery case
+7. [34.000-38.000] put another battery into the battery case
+8. [38.000-44.000] put the last battery into the battery case
+9. [44.000-54.000] put a new battery into the remote control
+10. [54.000-58.000] put another new battery into the remote control
+11. [58.000-73.000] put the back cover onto the remote control
+12. [73.000-78.000] put a new battery into the mouse
+13. [78.000-83.000] put the back cover onto the mouse
+14. [83.000-103.000] close the battery case
+15. [103.000-107.100] operate the laptop using the mouse
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000083.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000083.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6cf32b842d042ffb3f18da98f9636da60f8ada9
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000083.txt
@@ -0,0 +1,11 @@
+Task:
+Unload bullets from a toy gun magazine and store the bullets in a transparent box.
+
+Subtasks:
+1. [0.000-13.000] pick up the toy gun from the table, detach the magazine from the toy gun, and place the toy gun onto the table
+2. [13.000-32.000] examine the magazine and place the magazine onto the table
+3. [32.000-44.000] pick up the transparent box from the table, open the transparent box, and place the transparent box onto the table
+4. [44.000-68.000] pick up the magazine from the table, remove the bullets from the magazine onto the table until the magazine is empty, and place the empty magazine onto the table
+5. [68.000-81.000] pick up the toy gun and the empty magazine from the table, insert the empty magazine into the toy gun, and place the toy gun onto the table
+6. [81.000-96.000] pick up the transparent box from the table, pick up the bullets from the table and place the bullets into the transparent box, close the transparent box, and place the transparent box onto the table
+7. [96.000-101.650] move to the laptop and type on the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000084.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000084.txt
new file mode 100644
index 0000000000000000000000000000000000000000..309ac9b0c427ccd6f201d35c7ea8d142599ca4b7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000084.txt
@@ -0,0 +1,18 @@
+Task:
+Replace the batteries in a remote control and store the old batteries in a battery box.
+
+Subtasks:
+1. [0.000-10.000] take off the back cover of the mouse
+2. [10.000-17.000] take off the back cover of the remote control
+3. [17.000-27.000] remove a battery from the remote control
+4. [27.000-36.000] open the battery box
+5. [36.000-40.000] put the battery into the battery box
+6. [40.000-46.000] remove another battery from the remote control
+7. [46.000-51.000] put the battery into the battery box
+8. [51.000-55.000] put the back cover on the remote control
+9. [55.000-63.000] put the back cover on the mouse
+10. [63.000-68.000] take off the back cover of the remote control
+11. [68.000-72.000] put a new battery into the remote control
+12. [72.000-77.000] put another new battery into the remote control
+13. [77.000-81.000] put the back cover on the remote control
+14. [81.000-92.850] close the battery box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000085.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000085.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7782e45d8b598a2b595c9b4db070080e6de0bd79
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000085.txt
@@ -0,0 +1,19 @@
+Task:
+Replace the batteries in a remote control and a mouse with new ones from a battery case.
+
+Subtasks:
+1. [0.000-4.000] pick up the remote from the table, remove the battery cover from the remote, and place the battery cover on the table
+2. [4.000-11.000] remove two old batteries from the remote and place the old batteries and the remote on the table
+3. [11.000-18.000] pick up the battery case from the table and open the battery case
+4. [18.000-25.000] remove two new batteries from the battery case and place the new batteries on the table
+5. [25.000-35.000] pick up two old batteries from the table and place the old batteries into the battery case
+6. [35.000-42.000] remove two more new batteries from the battery case and place the new batteries on the table
+7. [42.000-50.000] pick up the mouse from the table and remove the old battery from the mouse
+8. [50.000-55.000] place the old battery from the mouse into the battery case
+9. [55.000-61.000] pick up a new battery from the table and insert the new battery into the mouse
+10. [61.000-65.000] pick up the mouse cover from the table, attach the mouse cover to the mouse, and place the mouse on the table
+11. [65.000-73.000] pick up the remote from the table and insert two new batteries from the table into the remote
+12. [73.000-76.000] pick up the remote cover from the table, attach the remote cover to the remote, and place the remote on the table
+13. [76.000-84.000] pick up the battery case and close the battery case
+14. [84.000-88.000] place the battery case on the table
+15. [88.000-92.050] press a key on the laptop keyboard
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000086.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000086.txt
new file mode 100644
index 0000000000000000000000000000000000000000..124826f4fff1a3fb70111217841317ee5aef32e1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000086.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000086.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000087.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000087.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e39417fa4a214edec2eac477abb19c51be6ba9dc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000087.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000087.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000088.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000088.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edc9a4a9118c10654001d63d646bc01c72a1b2c3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000088.txt
@@ -0,0 +1,24 @@
+Task:
+Fold the socks on the bed and put them into the basket.
+
+Subtasks:
+1. [0.000-7.000] get the sock from the bed
+2. [7.000-13.600] fold the sock
+3. [13.600-23.000] fold the sock to be a ball
+4. [23.000-27.500] put the sock into the basket
+5. [27.500-41.600] get the sock from the bed
+6. [41.600-53.600] fold the sock
+7. [53.600-59.800] fold the sock to be a ball
+8. [59.800-64.300] put the sock into the basket
+9. [64.300-70.300] get the sock from the bed
+10. [70.300-76.800] fold the sock
+11. [76.800-83.300] fold the sock to be a ball
+12. [83.300-88.000] put the sock into the basket
+13. [88.000-94.700] get the sock from the bed
+14. [94.700-103.500] fold the sock
+15. [103.500-109.300] fold the sock to be a ball
+16. [109.300-112.500] put the sock into the basket
+17. [112.500-118.800] get the sock from the bed
+18. [118.800-127.600] fold the sock
+19. [127.600-138.400] fold the sock to be a ball
+20. [138.400-143.050] put the sock into the basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000089.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000089.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ab93ee3640eb67fe46c015cdeee7ddc5000c913
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000089.txt
@@ -0,0 +1,22 @@
+Task:
+Fold multiple pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-9.000] pair two white socks
+2. [9.000-22.000] fold the paired white socks
+3. [22.000-26.000] place the folded white socks into the light blue basket
+4. [26.000-38.000] pair two white socks
+5. [38.000-44.000] fold the paired white socks
+6. [44.000-49.000] place the folded white socks into the light blue basket
+7. [49.000-59.000] pair two white socks
+8. [59.000-70.000] fold the paired white socks
+9. [70.000-74.000] place the folded white socks into the light blue basket
+10. [74.000-85.000] pair two grey socks
+11. [85.000-96.000] fold the paired grey socks
+12. [96.000-99.000] place the folded grey socks into the light blue basket
+13. [99.000-108.000] pair two grey socks
+14. [108.000-124.000] fold the paired grey socks
+15. [124.000-128.000] place the folded grey socks into the light blue basket
+16. [128.000-135.000] pair two white socks
+17. [135.000-147.000] fold the paired white socks
+18. [147.000-154.400] place the folded white socks into the light blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000090.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000090.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d632533dbf6e5181cc156801d3338cb7b7c5ecf8
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000090.txt
@@ -0,0 +1,12 @@
+Task:
+Fold the socks and place them into the basket.
+
+Subtasks:
+1. [0.000-25.000] fold the white socks
+2. [25.000-29.400] place the folded white socks into the basket
+3. [29.400-77.500] fold the grey socks
+4. [77.500-81.800] place the folded grey socks into the basket
+5. [81.800-101.400] fold the white socks
+6. [101.400-105.400] place the folded white socks into the basket
+7. [105.400-123.600] fold the white socks
+8. [123.600-128.650] place the folded white socks into the basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000091.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000091.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4f109027f270531e8967996932e266b106a731e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000091.txt
@@ -0,0 +1,14 @@
+Task:
+Fold multiple cloths and place them into a basket.
+
+Subtasks:
+1. [0.000-31.800] fold the grey cloth
+2. [31.800-36.600] put the folded grey cloth into the basket
+3. [36.600-59.500] fold the second grey cloth
+4. [59.500-65.100] put the second folded grey cloth into the basket
+5. [65.100-83.100] fold the white cloth
+6. [83.100-87.500] put the folded white cloth into the basket
+7. [87.500-106.800] fold the second white cloth
+8. [106.800-110.800] put the second folded white cloth into the basket
+9. [110.800-129.600] fold the third white cloth
+10. [129.600-134.350] put the third folded white cloth into the basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000092.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000092.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a63c456af21955357faafbd9dd0daa877330afc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000092.txt
@@ -0,0 +1,19 @@
+Task:
+Fold socks and place them in a basket.
+
+Subtasks:
+1. [0.000-7.800] align two white socks on the table
+2. [7.800-19.400] fold the white socks
+3. [19.400-21.700] place the folded white socks into the blue basket
+4. [21.700-27.100] align two grey socks on the table
+5. [27.100-42.300] fold the grey socks
+6. [42.300-46.100] place the folded grey socks into the blue basket
+7. [46.100-60.000] align two white socks on the table
+8. [60.000-68.500] fold the white socks
+9. [68.500-72.200] place the folded white socks into the blue basket
+10. [72.200-76.300] align two white socks on the table
+11. [76.300-88.600] fold the white socks
+12. [88.600-92.400] place the folded white socks into the blue basket
+13. [92.400-98.300] align two grey socks on the table
+14. [98.300-107.000] fold the grey socks
+15. [107.000-113.650] place the folded grey socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000093.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000093.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b93a4069c0d42b010114191480cc54203127c4b4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000093.txt
@@ -0,0 +1,14 @@
+Task:
+Fold socks and place them into a basket.
+
+Subtasks:
+1. [0.000-27.000] fold the gray sock
+2. [27.000-31.000] place the folded gray sock into the blue basket
+3. [31.000-47.000] fold the gray sock
+4. [47.000-52.000] place the folded gray sock into the blue basket
+5. [52.000-74.000] fold the white sock
+6. [74.000-78.000] place the folded white sock into the blue basket
+7. [78.000-96.000] fold the white sock
+8. [96.000-102.000] place the folded white sock into the blue basket
+9. [102.000-114.000] fold the white sock
+10. [114.000-120.350] place the folded white sock into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000094.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000094.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d364bf0d7b6597d2e22c6729dd629bee0f4a89f4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000094.txt
@@ -0,0 +1,23 @@
+Task:
+Fold multiple pairs of socks and place them into a blue basket.
+
+Subtasks:
+1. [0.000-0.150] separate a grey sock from the pile and lay the grey sock flat on the table
+2. [0.150-0.330] place a second grey sock on top of the first grey sock
+3. [0.330-0.520] fold the two grey socks together
+4. [0.520-1.070] unfold the grey socks and lay the first grey sock flat on the table
+5. [1.070-1.130] place the second grey sock on top of the first grey sock
+6. [1.130-1.230] fold the two grey socks together
+7. [1.230-1.280] place the folded grey socks into the blue basket
+8. [1.280-1.380] separate a white sock from the pile and lay the white sock flat on the table
+9. [1.380-1.540] place a second white sock on top of the first white sock
+10. [1.540-2.160] fold the two white socks together
+11. [2.160-2.220] place the folded white socks into the blue basket
+12. [2.220-2.260] separate a third white sock from the pile and lay the third white sock flat on the table
+13. [2.260-2.300] place a fourth white sock on top of the third white sock
+14. [2.300-2.440] fold the third and fourth white socks together
+15. [2.440-2.480] place the folded white socks into the blue basket
+16. [2.480-2.560] separate a fifth white sock from the pile and lay the fifth white sock flat on the table
+17. [2.560-3.040] place a sixth white sock on top of the fifth white sock
+18. [3.040-3.280] fold the fifth and sixth white socks together
+19. [3.280-213.400] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000095.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000095.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f402845d0c546c3b4bb39c35c0dcb5b032a7be96
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000095.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000095.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000096.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000096.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da99198fc5e3db8765a8c4c6eb0455f282614d0c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000096.txt
@@ -0,0 +1,23 @@
+Task:
+Fold multiple pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-6.000] pick up a white sock from the table
+2. [6.000-11.000] pick up another white sock from the table
+3. [11.000-34.000] fold the two white socks together
+4. [34.000-37.000] place the folded white socks into the basket
+5. [37.000-41.000] pick up a white sock from the table
+6. [41.000-51.000] fold the white sock
+7. [51.000-54.000] place the folded white sock into the basket
+8. [54.000-60.000] pick up a grey sock from the table
+9. [60.000-66.000] pick up another grey sock from the table
+10. [66.000-73.000] fold the two grey socks together
+11. [73.000-75.000] place the folded grey socks into the basket
+12. [75.000-80.000] pick up a grey sock from the table
+13. [80.000-86.000] pick up another grey sock from the table
+14. [86.000-94.000] fold the two grey socks together
+15. [94.000-96.000] place the folded grey socks into the basket
+16. [96.000-102.000] pick up a white sock from the table
+17. [102.000-107.000] pick up another white sock from the table
+18. [107.000-118.000] fold the two white socks together
+19. [118.000-124.800] place the folded white socks into the basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000097.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000097.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34ee2203910df5002dec94bb4f4662462d5834a0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000097.txt
@@ -0,0 +1,19 @@
+Task:
+Fold pairs of socks and place them in a basket.
+
+Subtasks:
+1. [0.000-13.900] match two grey socks together
+2. [13.900-22.800] fold the grey socks together
+3. [22.800-27.200] place the folded grey socks into the blue basket
+4. [27.200-39.800] match two white socks together
+5. [39.800-56.400] fold the white socks together
+6. [56.400-59.800] place the folded white socks into the blue basket
+7. [59.800-65.700] match two white socks together
+8. [65.700-78.800] fold the white socks together
+9. [78.800-82.200] place the folded white socks into the blue basket
+10. [82.200-87.200] match two white socks together
+11. [87.200-100.200] fold the white socks together
+12. [100.200-103.800] place the folded white socks into the blue basket
+13. [103.800-110.200] match two grey socks together
+14. [110.200-121.800] fold the grey socks together
+15. [121.800-128.100] place the folded grey socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000098.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000098.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd8f332b8caa95fef31dd724f3f6da79a2abbb7e
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000098.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000098.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000099.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000099.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40c0367cb1f8de5cc02cad16d4cc439df3eefa32
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000099.txt
@@ -0,0 +1,19 @@
+Task:
+Fold the socks and put them into the blue basket.
+
+Subtasks:
+1. [0.000-23.000] pick up the white socks from the table
+2. [23.000-36.000] fold the white socks together
+3. [36.000-41.000] place the folded white socks into the blue basket
+4. [41.000-48.000] pick up the grey socks from the table
+5. [48.000-66.000] fold the grey socks together
+6. [66.000-70.000] place the folded grey socks into the blue basket
+7. [70.000-78.000] pick up the white socks from the table
+8. [78.000-94.000] fold the white socks together
+9. [94.000-98.000] place the folded white socks into the blue basket
+10. [98.000-102.000] pick up the grey socks from the table
+11. [102.000-110.000] fold the grey socks together
+12. [110.000-114.000] place the folded grey socks into the blue basket
+13. [114.000-119.000] pick up the white socks from the table
+14. [119.000-131.000] fold the white socks together
+15. [131.000-137.600] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000100.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000100.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e68bf9b92e8511ad22e8d35e2ae2b26dbda0dea2
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000100.txt
@@ -0,0 +1,19 @@
+Task:
+Fold multiple socks into balls and place the socks into a blue basket.
+
+Subtasks:
+1. [0.000-6.000] pick up a grey sock from the table
+2. [6.000-24.000] fold the grey sock into a ball
+3. [24.000-29.000] place the folded grey sock into the blue basket
+4. [29.000-39.000] pick up a white sock from the table
+5. [39.000-60.000] fold the white sock into a ball
+6. [60.000-63.000] place the folded white sock into the blue basket
+7. [63.000-65.000] pick up a second white sock from the table
+8. [65.000-79.000] fold the second white sock into a ball
+9. [79.000-82.000] place the folded second white sock into the blue basket
+10. [82.000-85.000] pick up a third white sock from the table
+11. [85.000-106.000] fold the third white sock into a ball
+12. [106.000-109.000] place the folded third white sock into the blue basket
+13. [109.000-112.000] pick up a second grey sock from the table
+14. [112.000-125.000] fold the second grey sock into a ball
+15. [125.000-131.350] place the folded second grey sock into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000101.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000101.txt
new file mode 100644
index 0000000000000000000000000000000000000000..800f7db7de381004a6a1d74792818df9a7a9452b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000101.txt
@@ -0,0 +1,16 @@
+Task:
+Fold multiple pairs of socks and organize them into a basket.
+
+Subtasks:
+1. [0.000-13.000] spread out the loose socks on the table
+2. [13.000-36.000] fold a pair of white socks on the table
+3. [36.000-39.000] place the folded white socks into the blue basket
+4. [39.000-69.000] fold a second pair of white socks on the table
+5. [69.000-71.000] place the folded second pair of white socks into the blue basket
+6. [71.000-94.000] fold a third pair of white socks on the table
+7. [94.000-97.000] place the folded third pair of white socks into the blue basket
+8. [97.000-121.000] fold a pair of grey socks on the table
+9. [121.000-123.000] place the folded grey socks into the blue basket
+10. [123.000-169.000] fold a pair of light blue socks on the table
+11. [169.000-172.000] place the folded light blue socks into the blue basket
+12. [172.000-175.350] move the hands to the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000102.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000102.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee36997bd6cb50585ffc7aeebc94399e00b89dd8
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000102.txt
@@ -0,0 +1,20 @@
+Task:
+Fold multiple pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-9.000] pick up one white sock in the left hand and another white sock in the right hand
+2. [9.000-16.000] match the two white socks together
+3. [16.000-26.000] fold the matched white socks together
+4. [26.000-32.000] place the folded white socks into the blue basket
+5. [32.000-43.000] pick up one white sock in the left hand and another white sock in the right hand
+6. [43.000-58.000] match the two white socks together
+7. [58.000-73.000] fold the matched white socks together
+8. [73.000-79.000] place the folded white socks into the blue basket
+9. [79.000-85.000] pick up one grey sock in the left hand and another grey sock in the right hand
+10. [85.000-94.000] match the two grey socks together
+11. [94.000-106.000] fold the matched grey socks together
+12. [106.000-110.000] place the folded grey socks into the blue basket
+13. [110.000-115.000] pick up one grey sock in the left hand and another grey sock in the right hand
+14. [115.000-120.000] match the two grey socks together
+15. [120.000-129.000] fold the matched grey socks together
+16. [129.000-136.500] place the folded grey socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000103.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000103.txt
new file mode 100644
index 0000000000000000000000000000000000000000..388d995ca57e142eb8fefbbb194f180574e6abb3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000103.txt
@@ -0,0 +1,27 @@
+Task:
+Fold pairs of socks and organize them by placing them into a basket.
+
+Subtasks:
+1. [0.000-7.000] pick up a white sock from the table
+2. [7.000-11.000] pick up another white sock from the table
+3. [11.000-19.000] align the two white socks together
+4. [19.000-29.000] fold the two white socks together
+5. [29.000-32.000] place the folded white socks into the blue basket
+6. [32.000-36.000] pick up a white sock from the table
+7. [36.000-41.000] pick up another white sock from the table
+8. [41.000-44.000] align the two white socks together
+9. [44.000-52.000] fold the two white socks together
+10. [52.000-55.000] place the folded white socks into the blue basket
+11. [55.000-59.000] pick up a grey sock from the table
+12. [59.000-64.000] pick up another grey sock from the table
+13. [64.000-67.000] align the two grey socks together
+14. [67.000-81.000] fold the two grey socks together
+15. [81.000-87.000] place the folded grey socks into the blue basket
+16. [87.000-91.000] pick up a grey sock from the table
+17. [91.000-95.000] pick up another grey sock from the table
+18. [95.000-98.000] align the two grey socks together
+19. [98.000-110.000] fold the two grey socks together
+20. [110.000-114.000] place the folded grey socks into the blue basket
+21. [114.000-118.000] pick up two white socks from the table
+22. [118.000-128.000] fold the two white socks together
+23. [128.000-137.650] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000104.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000104.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e1ba9672fae283a8f06b6aeea19df1564bbf95ef
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000104.txt
@@ -0,0 +1,14 @@
+Task:
+Fold pairs of socks and place them into a blue basket.
+
+Subtasks:
+1. [0.000-54.000] fold a pair of socks
+2. [54.000-59.000] place the folded socks into the blue basket
+3. [59.000-94.000] fold a pair of socks
+4. [94.000-100.000] place the folded socks into the blue basket
+5. [100.000-138.000] fold a pair of socks
+6. [138.000-143.000] place the folded socks into the blue basket
+7. [143.000-187.000] fold a pair of socks
+8. [187.000-193.000] place the folded socks into the blue basket
+9. [193.000-223.000] fold a pair of socks
+10. [223.000-228.400] place the folded socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000105.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000105.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f43239a599fbad6ee54cbe8eb675a90e9131015
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000105.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000105.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000106.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000106.txt
new file mode 100644
index 0000000000000000000000000000000000000000..595686c5d787098a734d49934da901025acec62b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000106.txt
@@ -0,0 +1,19 @@
+Task:
+Fold multiple pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-16.000] pair the grey socks on the table
+2. [16.000-35.000] fold the grey socks
+3. [35.000-41.000] place the folded grey socks into the blue basket
+4. [41.000-50.000] pair the white socks on the table
+5. [50.000-69.000] fold the white socks
+6. [69.000-75.000] place the folded white socks into the blue basket
+7. [75.000-94.000] pair the grey socks on the table
+8. [94.000-101.000] fold the grey socks
+9. [101.000-107.000] place the folded grey socks into the blue basket
+10. [107.000-115.000] pair the white socks on the table
+11. [115.000-135.000] fold the white socks
+12. [135.000-141.000] place the folded white socks into the blue basket
+13. [141.000-149.000] pair the white socks on the table
+14. [149.000-172.000] fold the white socks
+15. [172.000-177.500] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000107.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000107.txt
new file mode 100644
index 0000000000000000000000000000000000000000..daa316fbd5d77a4925b8933480b73a60b84372fe
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000107.txt
@@ -0,0 +1,14 @@
+Task:
+Fold pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-46.000] fold the grey socks on the table
+2. [46.000-52.000] place the folded grey socks into the light blue basket
+3. [52.000-101.000] fold the white socks on the table
+4. [101.000-105.000] place the folded white socks into the light blue basket
+5. [105.000-128.000] fold the white socks on the table
+6. [128.000-131.000] place the folded white socks into the light blue basket
+7. [131.000-172.000] fold the white socks on the table
+8. [172.000-176.000] place the folded white socks into the light blue basket
+9. [176.000-211.000] fold the grey socks on the table
+10. [211.000-215.150] place the folded grey socks into the light blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000108.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000108.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1cfdb17c8a86b60dabe22e3147be3bccc141dd3c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000108.txt
@@ -0,0 +1,15 @@
+Task:
+Fold pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-36.000] sort the socks on the table and pair two white socks
+2. [36.000-54.000] fold the paired white socks
+3. [54.000-75.000] place the folded white socks into the basket
+4. [75.000-101.000] pair two grey socks from the table
+5. [101.000-120.000] fold the paired grey socks
+6. [120.000-136.000] pair two white socks from the table
+7. [136.000-157.000] fold the paired white socks
+8. [157.000-160.000] place the folded white socks into the basket
+9. [160.000-174.000] pair two grey socks from the table
+10. [174.000-208.000] fold the paired grey socks
+11. [208.000-214.800] place the folded grey socks into the basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000109.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000109.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c13976dde0db20077a2cfec739db971fe32bfb8b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000109.txt
@@ -0,0 +1,19 @@
+Task:
+Fold multiple pairs of socks and place them into a blue basket.
+
+Subtasks:
+1. [0.000-15.000] pair two white socks on the table
+2. [15.000-41.000] fold the paired white socks
+3. [41.000-45.000] place the folded white socks into the blue basket
+4. [45.000-54.000] pair two grey socks on the table
+5. [54.000-81.000] fold the paired grey socks
+6. [81.000-87.000] place the folded grey socks into the blue basket
+7. [87.000-98.000] pair two white socks on the table
+8. [98.000-124.000] fold the paired white socks
+9. [124.000-128.000] place the folded white socks into the blue basket
+10. [128.000-142.000] pair two light grey socks on the table
+11. [142.000-171.000] fold the paired light grey socks
+12. [171.000-174.000] place the folded light grey socks into the blue basket
+13. [174.000-184.000] pair two white socks on the table
+14. [184.000-206.000] fold the paired white socks
+15. [206.000-211.750] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000110.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000110.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8553d1b16207fa6a12cc7311ce5b6e9391fbe4b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000110.txt
@@ -0,0 +1,15 @@
+Task:
+Fold several pairs of socks and place the folded socks into a blue basket.
+
+Subtasks:
+1. [0.000-10.400] pull a pile of socks from the edge of the table closer to the center of the table
+2. [10.400-50.600] pick up a pair of white socks from the pile and fold the pair of white socks
+3. [50.600-54.800] place the folded pair of white socks into the blue basket
+4. [54.800-85.300] pick up a second pair of white socks from the pile and fold the second pair of white socks
+5. [85.300-90.100] place the second folded pair of white socks into the blue basket
+6. [90.100-128.200] pick up a pair of grey socks from the pile and fold the pair of grey socks
+7. [128.200-132.800] place the folded pair of grey socks into the blue basket
+8. [132.800-168.900] pick up a third pair of white socks from the pile and fold the third pair of white socks
+9. [168.900-172.900] place the third folded pair of white socks into the blue basket
+10. [172.900-211.500] pick up a second pair of grey socks from the pile and fold the second pair of grey socks
+11. [211.500-218.400] place the second folded pair of grey socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000111.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000111.txt
new file mode 100644
index 0000000000000000000000000000000000000000..222872fc60d065da176852489ff42107c40dc8e7
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000111.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000111.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000112.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000112.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c00d3a276c4830344ba36eb88ecdfecfab82ad5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000112.txt
@@ -0,0 +1,13 @@
+Task:
+Fold pairs of socks and place them into the basket.
+
+Subtasks:
+1. [0.000-39.600] sort the socks on the table to find matching pairs
+2. [39.600-81.300] fold a pair of white socks into a ball
+3. [81.300-86.800] place the folded socks into the blue basket
+4. [86.800-127.300] fold a second pair of white socks into a ball
+5. [127.300-131.500] place the folded socks into the blue basket
+6. [131.500-153.200] fold a third pair of white socks into a ball
+7. [153.200-157.600] place the folded socks into the blue basket
+8. [157.600-189.600] fold a pair of grey socks into a ball
+9. [189.600-195.400] place the folded socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000113.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000113.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc8db0ea01bbc84fe858af3e475aed6ab91ef470
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000113.txt
@@ -0,0 +1,19 @@
+Task:
+Fold multiple pairs of socks and place them into a blue basket.
+
+Subtasks:
+1. [0.000-14.000] pick up a pair of gray socks from the table
+2. [14.000-36.000] fold the pair of gray socks
+3. [36.000-40.000] put the folded pair of gray socks into the blue basket
+4. [40.000-48.000] pick up another pair of gray socks from the table
+5. [48.000-73.000] fold the pair of gray socks
+6. [73.000-80.000] put the folded pair of gray socks into the blue basket
+7. [80.000-89.000] pick up a pair of white socks from the table
+8. [89.000-114.000] fold the pair of white socks
+9. [114.000-118.000] put the folded pair of white socks into the blue basket
+10. [118.000-126.000] pick up another pair of white socks from the table
+11. [126.000-142.000] fold the pair of white socks
+12. [142.000-147.000] put the folded pair of white socks into the blue basket
+13. [147.000-157.000] pick up a third pair of white socks from the table
+14. [157.000-170.000] fold the pair of white socks
+15. [170.000-176.100] put the folded pair of white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000114.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000114.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42c25c1724d031e17050a7e6a8249805c20cd2eb
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000114.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000114.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000115.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000115.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0fe13398ffe7b006d788294883553ad97d02f46d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000115.txt
@@ -0,0 +1,14 @@
+Task:
+Fold pairs of socks and place them into a basket.
+
+Subtasks:
+1. [0.000-30.800] fold a pair of grey socks on the table
+2. [30.800-33.800] place the folded grey socks into the blue basket
+3. [33.800-51.500] fold a second pair of grey socks on the table
+4. [51.500-54.800] place the folded grey socks into the blue basket
+5. [54.800-79.300] fold a pair of white socks on the table
+6. [79.300-82.500] place the folded white socks into the blue basket
+7. [82.500-106.800] fold a second pair of white socks on the table
+8. [106.800-109.800] place the folded white socks into the blue basket
+9. [109.800-128.800] fold a third pair of white socks on the table
+10. [128.800-136.350] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000116.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000116.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9d1fc57b69e7bc4024f071b3b1bd039571c625a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000116.txt
@@ -0,0 +1,25 @@
+Task:
+Fold multiple pairs of socks and place the folded socks into a basket
+
+Subtasks:
+1. [0.000-13.700] pick up two grey socks from the table and align the two grey socks together
+2. [13.700-16.700] fold the aligned grey socks
+3. [16.700-31.300] wrap the cuff of one grey sock around the folded grey socks until the grey socks are securely bundled
+4. [31.300-34.600] place the bundled grey socks into the blue basket
+5. [34.600-40.400] pick up two white socks from the table and align the two white socks together
+6. [40.400-44.400] fold the aligned white socks
+7. [44.400-52.600] wrap the cuff of one white sock around the folded white socks until the white socks are securely bundled
+8. [52.600-54.300] place the bundled white socks into the blue basket
+9. [54.300-63.300] pick up two grey socks from the table and align the two grey socks together
+10. [63.300-68.500] fold the aligned grey socks
+11. [68.500-77.500] wrap the cuff of one grey sock around the folded grey socks until the grey socks are securely bundled
+12. [77.500-81.600] place the bundled grey socks into the blue basket
+13. [81.600-91.800] pick up two white socks from the table and align the two white socks together
+14. [91.800-94.600] fold the aligned white socks
+15. [94.600-106.300] wrap the cuff of one white sock around the folded white socks until the white socks are securely bundled
+16. [106.300-109.100] place the bundled white socks into the blue basket
+17. [109.100-117.200] pick up two white socks from the table and align the two white socks together
+18. [117.200-119.800] fold the aligned white socks
+19. [119.800-125.700] wrap the cuff of one white sock around the folded white socks until the white socks are securely bundled
+20. [125.700-129.500] place the bundled white socks into the blue basket
+21. [129.500-133.050] turn to the laptop and interact with the laptop
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000117.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000117.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8898376af0294f7edd9eb36cc36af1053b06133
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000117.txt
@@ -0,0 +1,14 @@
+Task:
+Fold pairs of socks and place them into a blue basket.
+
+Subtasks:
+1. [0.000-31.000] fold the white socks on the table
+2. [31.000-34.000] put the folded white socks into the blue basket
+3. [34.000-48.000] fold another pair of white socks on the table
+4. [48.000-51.000] put the folded white socks into the blue basket
+5. [51.000-73.000] fold the grey socks on the table
+6. [73.000-76.000] put the folded grey socks into the blue basket
+7. [76.000-103.000] fold another pair of grey socks on the table
+8. [103.000-107.000] put the folded grey socks into the blue basket
+9. [107.000-128.000] fold the last pair of white socks on the table
+10. [128.000-137.950] put the folded white socks into the blue basket and move hands away
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000118.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000118.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3af89757d6bde5079257afd3e6f67b24d0670d6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000118.txt
@@ -0,0 +1,24 @@
+Task:
+Fold pairs of socks and place the folded socks into a basket.
+
+Subtasks:
+1. [0.000-10.000] pick up a white sock from the pile and lay the white sock flat on the table
+2. [10.000-16.000] pick up another white sock from the pile and place the white sock on top of the first white sock
+3. [16.000-23.000] fold the two white socks together into a bundle
+4. [23.000-27.000] place the folded white socks into the blue basket
+5. [27.000-33.000] pick up a grey sock from the pile and lay the grey sock flat on the table
+6. [33.000-38.000] pick up another grey sock from the pile and place the grey sock on top of the first grey sock
+7. [38.000-51.000] fold the two grey socks together into a bundle
+8. [51.000-54.000] place the folded grey socks into the blue basket
+9. [54.000-63.000] pick up a grey sock from the pile and lay the grey sock flat on the table
+10. [63.000-67.000] pick up another grey sock from the pile and place the grey sock on top of the first grey sock
+11. [67.000-79.000] fold the two grey socks together into a bundle
+12. [79.000-83.000] place the folded grey socks into the blue basket
+13. [83.000-90.000] pick up a white sock from the pile and lay the white sock flat on the table
+14. [90.000-94.000] pick up another white sock from the pile and place the white sock on top of the first white sock
+15. [94.000-103.000] fold the two white socks together into a bundle
+16. [103.000-106.000] place the folded white socks into the blue basket
+17. [106.000-114.000] pick up a white sock from the pile and lay the white sock flat on the table
+18. [114.000-121.000] pick up another white sock from the pile and place the white sock on top of the first white sock
+19. [121.000-139.000] fold the two white socks together into a bundle
+20. [139.000-147.550] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000119.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000119.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9e8b7abb2b07177c1ed23e9be117de6db8cc4b2
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000119.txt
@@ -0,0 +1,14 @@
+Task:
+Pair, fold, and organize socks into a basket.
+
+Subtasks:
+1. [0.000-18.000] pair and fold a pair of white socks
+2. [18.000-22.000] place the folded white socks into the blue basket
+3. [22.000-44.000] pair and fold a pair of grey socks
+4. [44.000-48.000] place the folded grey socks into the blue basket
+5. [48.000-74.000] pair and fold a pair of white socks
+6. [74.000-77.000] place the folded white socks into the blue basket
+7. [77.000-95.000] pair and fold a pair of grey socks
+8. [95.000-99.000] place the folded grey socks into the blue basket
+9. [99.000-119.000] pair and fold a pair of white socks
+10. [119.000-126.600] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000120.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000120.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d36b55c0cd7ab393524359fd8818a5be65329caa
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000120.txt
@@ -0,0 +1,20 @@
+Task:
+Fold pairs of socks and place the folded pairs into a basket.
+
+Subtasks:
+1. [0.000-15.100] pick up two grey socks and align the two grey socks on the table
+2. [15.100-33.000] fold the two grey socks into a bundle
+3. [33.000-35.100] place the bundle of grey socks into the blue basket
+4. [35.100-43.100] pick up another two grey socks and align the two grey socks on the table
+5. [43.100-54.300] fold the two grey socks into a bundle
+6. [54.300-57.500] place the bundle of grey socks into the blue basket
+7. [57.500-61.200] pick up two white socks and align the two white socks on the table
+8. [61.200-74.600] fold the two white socks into a bundle
+9. [74.600-76.200] place the bundle of white socks into the blue basket
+10. [76.200-83.100] pick up another two white socks and align the two white socks on the table
+11. [83.100-97.700] fold the two white socks into a bundle
+12. [97.700-99.200] place the bundle of white socks into the blue basket
+13. [99.200-109.600] pick up the last two white socks and align the two white socks on the table
+14. [109.600-113.500] tap the smartphone on the side stool with the right hand
+15. [113.500-124.700] fold the two white socks into a bundle
+16. [124.700-130.250] place the bundle of white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000121.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000121.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f41a9ab53079a332ae433a2cf7d9ee7b19e7f2f5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000121.txt
@@ -0,0 +1,17 @@
+Task:
+Operate a smartphone and fold pairs of socks into a basket.
+
+Subtasks:
+1. [0.000-22.000] stand by the table
+2. [22.000-28.000] pick up the smartphone from the chair
+3. [28.000-56.000] operate the smartphone
+4. [56.000-71.000] place the smartphone on the chair and turn to the table
+5. [71.000-78.000] move the socks from the blue basket onto the table
+6. [78.000-89.000] fold two white socks together
+7. [89.000-92.000] place the folded white socks into the blue basket
+8. [92.000-104.000] fold a white sock and a grey sock together
+9. [104.000-107.000] place the folded socks into the blue basket
+10. [107.000-128.000] arrange the remaining socks flat on the table
+11. [128.000-141.000] fold two white socks together
+12. [141.000-154.000] fold a white sock and a grey sock together
+13. [154.000-157.832] place the folded white socks into the blue basket
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000122.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000122.txt
new file mode 100644
index 0000000000000000000000000000000000000000..209261d0f0a0a56938438d0ce02394aeb52790ab
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000122.txt
@@ -0,0 +1,20 @@
+Task:
+Fold pairs of socks and place them into a basket, then remove and unfold them onto the table.
+
+Subtasks:
+1. [0.000-26.000] fold the grey socks
+2. [26.000-31.000] place the folded grey socks into the blue basket
+3. [31.000-35.000] pick up white socks from the table
+4. [35.000-65.000] fold the white socks
+5. [65.000-69.000] place the folded white socks into the blue basket
+6. [69.000-72.000] pick up white socks from the table
+7. [72.000-95.000] fold the white socks
+8. [95.000-99.000] place the folded white socks into the blue basket
+9. [99.000-105.000] pick up grey socks from the table
+10. [105.000-129.000] fold the grey socks
+11. [129.000-132.000] place the folded grey socks into the blue basket
+12. [132.000-147.000] interact with the laptop
+13. [147.000-155.000] remove folded white socks from the blue basket and unfold the white socks onto the table
+14. [155.000-164.000] remove folded white socks from the blue basket and unfold the white socks onto the table
+15. [164.000-170.000] remove folded white socks from the blue basket and unfold the white socks onto the table
+16. [170.000-181.859] remove folded grey socks from the blue basket and unfold the grey socks onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000123.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000123.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bfcbd6f4635303310388bbe27a6695e33e5c5bfd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000123.txt
@@ -0,0 +1,25 @@
+Task:
+Fold pairs of socks into balls and organize them into a basket.
+
+Subtasks:
+1. [0.000-3.300] lay out a white sock flat on the table
+2. [3.300-8.100] place another white sock onto the first white sock
+3. [8.100-13.600] roll the white socks from the toe towards the cuff
+4. [13.600-33.100] fold the cuff of the outer white sock over the rolled part
+5. [33.100-36.200] place the folded white socks into the blue basket
+6. [36.200-43.200] lay out a light blue sock flat on the table
+7. [43.200-49.300] place another light blue sock onto the first light blue sock
+8. [49.300-54.800] roll the light blue socks from the toe towards the cuff
+9. [54.800-73.400] fold the cuff of the outer light blue sock over the rolled part
+10. [73.400-76.300] place the folded light blue socks into the blue basket
+11. [76.300-81.800] lay out a grey sock flat on the table
+12. [81.800-84.600] place another grey sock onto the first grey sock
+13. [84.600-89.800] roll the grey socks from the toe towards the cuff
+14. [89.800-103.500] fold the cuff of the outer grey sock over the rolled part
+15. [103.500-106.300] place the folded grey socks into the blue basket
+16. [106.300-109.800] lay out a white sock flat on the table
+17. [109.800-112.500] place another white sock onto the first white sock
+18. [112.500-116.100] roll the white socks from the toe towards the cuff
+19. [116.100-132.800] fold the cuff of the outer white sock over the rolled part
+20. [132.800-135.500] place the folded white socks into the blue basket
+21. [135.500-140.164] reach for the remaining grey socks on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000124.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000124.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f3e8db2563d9cfda7c8da8b2ad0eec2401d8
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000124.txt
@@ -0,0 +1,10 @@
+Task:
+Fold socks and place the socks into a basket.
+
+Subtasks:
+1. [0.000-11.000] fold a white sock and place the white sock into the blue basket
+2. [11.000-27.000] unfold a grey sock on the table
+3. [27.000-46.000] press a button on the laptop
+4. [46.000-81.000] fold a white sock and place the white sock into the blue basket
+5. [81.000-119.000] fold a grey sock and place the grey sock into the blue basket
+6. [119.000-122.200] reach for a grey sock on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000125.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000125.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f97bb863f74bbe69607bdb27139988f7ac9a510
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000125.txt
@@ -0,0 +1,10 @@
+Task:
+Fold socks, interact with electronic devices, and discard unwanted socks into a trash can.
+
+Subtasks:
+1. [0.000-27.000] fold the socks and put the socks into the basket
+2. [27.000-48.000] touch the laptop
+3. [48.000-76.000] touch the phone
+4. [76.000-87.000] pick up the socks and fold the socks
+5. [87.000-100.000] throw the socks into the trash can
+6. [100.000-123.605] pick up the socks and throw the socks into the trash can
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000126.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000126.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c108e28998443717c20bacd677931fad9a64f7e8
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000126.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000126.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000127.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000127.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c758238da80a7530ba26374c9924457f929b9d77
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000127.txt
@@ -0,0 +1,14 @@
+Task:
+Unroll pairs of socks from a basket onto a table and then roll two separated socks together.
+
+Subtasks:
+1. [0.000-8.000] type on the laptop keyboard
+2. [8.000-44.000] operate the smartphone
+3. [44.000-50.000] take a rolled pair of white socks from the basket and unroll the white socks onto the table
+4. [50.000-58.000] take a second rolled pair of white socks from the basket and unroll the white socks onto the table
+5. [58.000-72.000] take a rolled pair of grey socks from the basket and unroll the grey socks onto the table
+6. [72.000-86.000] take a second rolled pair of grey socks from the basket and unroll the grey socks onto the table
+7. [86.000-94.000] take a third rolled pair of white socks from the basket and unroll the white socks onto the table
+8. [94.000-112.000] take a fourth rolled pair of white socks from the basket and unroll the white socks onto the table
+9. [112.000-124.000] type on the laptop keyboard
+10. [124.000-143.491] pick up two separated grey socks from the table and roll the two grey socks together into a pair
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000128.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000128.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2bf0be1d615b0333f19daee9892e9e1a006381c9
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000128.txt
@@ -0,0 +1,15 @@
+Task:
+Pack various items from the table into a backpack and zip it closed.
+
+Subtasks:
+1. [0.000-9.000] put the orange item from the table into the backpack
+2. [9.000-12.000] put the black box from the table into the backpack
+3. [12.000-15.000] put the pen from the table into the backpack
+4. [15.000-25.000] put the long dark item from the table into the backpack
+5. [25.000-29.000] put the blue item from the table into the backpack
+6. [29.000-33.000] put the small black item from the table into the backpack
+7. [33.000-41.000] put the triangular ruler from the table into the backpack
+8. [41.000-51.000] put the green book from the table into the backpack
+9. [51.000-55.000] put the second book from the table into the backpack
+10. [55.000-76.000] pull the zippers on the backpack until it is fully closed
+11. [76.000-81.758] type on the laptop on the chair using hands
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000129.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000129.txt
new file mode 100644
index 0000000000000000000000000000000000000000..047a8f8083ea11e6826ea8755b635e0ae6f5e334
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000129.txt
@@ -0,0 +1,19 @@
+Task:
+Pack various items from the table into a backpack and zip it closed.
+
+Subtasks:
+1. [0.000-4.100] put the green book into the backpack
+2. [4.100-7.500] put the yellow book into the backpack
+3. [7.500-11.200] put the blue book into the backpack
+4. [11.200-16.300] put the black item into the backpack
+5. [16.300-21.000] put the wet wipes into the backpack
+6. [21.000-24.800] put the orange pack into the backpack
+7. [24.800-29.800] put the white tube into the backpack
+8. [29.800-33.600] put the blue tube into the backpack
+9. [33.600-38.300] put the toothbrush into the backpack
+10. [38.300-44.500] put the brown bottle into the backpack
+11. [44.500-47.900] put the black pen into the backpack
+12. [47.900-52.800] put the small blue item into the backpack
+13. [52.800-56.400] put the silver box into the backpack
+14. [56.400-63.800] zip the backpack closed
+15. [63.800-70.857] move the backpack away from the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000130.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000130.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9df4b359b98774e47ae9612a99ed474d154d131f
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000130.txt
@@ -0,0 +1,7 @@
+Task:
+Observe the table and its surroundings.
+
+Subtasks:
+1. [0.000-42.000] look at the table
+2. [42.000-54.000] look at the backpack on the left side of the table
+3. [54.000-66.745] look at the right side of the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000131.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000131.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ccb6a25bb098d0ca51a15c981487b916a3b3b17f
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000131.txt
@@ -0,0 +1,9 @@
+Task:
+Take books out of a backpack, operate a laptop, and then return the books to the backpack.
+
+Subtasks:
+1. [0.000-8.900] move the blue book from the backpack to the table
+2. [8.900-17.300] move the green book from the backpack to the table
+3. [17.300-66.900] operate the laptop
+4. [66.900-81.000] move the green book from the table into the backpack
+5. [81.000-90.554] move the blue book from the table into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000132.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000132.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eade0ad2f2c7ff6f3f28161c62e829f311b1f4ba
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000132.txt
@@ -0,0 +1,12 @@
+Task:
+Pack items into a backpack and interact with a computer and trash can.
+
+Subtasks:
+1. [0.000-7.000] close the zipper of the backpack
+2. [7.000-11.000] pick up the pen and toothpaste
+3. [11.000-16.000] put the pen and toothpaste into the backpack
+4. [16.000-29.000] close the zipper of the backpack
+5. [29.000-47.000] open the zipper of the backpack
+6. [47.000-55.000] touch the computer
+7. [55.000-60.000] touch the trash can
+8. [60.000-75.039] open the zipper of the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000133.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000133.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d999a85491c23e552b2ce264787f1752c094f8fd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000133.txt
@@ -0,0 +1,17 @@
+Task:
+Pack various items from a table into a backpack.
+
+Subtasks:
+1. [0.000-24.000] look at the phone
+2. [24.000-27.000] pick up the blue stapler from the table
+3. [27.000-31.000] put the blue stapler into the backpack
+4. [31.000-33.000] pick up the green mouse from the table
+5. [33.000-38.000] put the green mouse into the backpack
+6. [38.000-40.000] pick up the blue book from the table
+7. [40.000-50.000] put the blue book into the backpack
+8. [50.000-52.000] pick up the green book from the table
+9. [52.000-62.000] put the green book into the backpack
+10. [62.000-65.000] pick up the blue hole puncher from the table
+11. [65.000-70.000] put the blue hole puncher into the backpack
+12. [70.000-72.000] pick up the black wallet from the table
+13. [72.000-77.479] put the black wallet into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000134.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000134.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d95969e8dc08bd06b1f6fc2d621450a15111563
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000134.txt
@@ -0,0 +1,14 @@
+Task:
+Pack a marker and a cylinder into a backpack, zip it closed, interact with a laptop, and then unzip the backpack.
+
+Subtasks:
+1. [0.000-5.500] pick up the green marker from the table and put the green marker into the backpack
+2. [5.500-10.300] pick up the brown cylinder from the table
+3. [10.300-23.300] put the brown cylinder into the backpack
+4. [23.300-27.200] fold the top of the backpack until the backpack is closed
+5. [27.200-39.000] pull the zipper on the backpack until the backpack is fully zipped
+6. [39.000-46.100] move the backpack to the center of the table
+7. [46.100-54.000] turn towards the laptop on the chair and reach for the laptop keyboard
+8. [54.000-60.500] press a key on the laptop keyboard
+9. [60.500-64.600] turn back to the table and reach for the backpack
+10. [64.600-74.844] pull the zipper on the backpack until the backpack is unzipped
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000135.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000135.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ac2f8f12f51c401dbe94e7d85f3eba21c48d3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000135.txt
@@ -0,0 +1,13 @@
+Task:
+Unpack books from a backpack, retrieve a phone, and pack various items from the table into the backpack.
+
+Subtasks:
+1. [0.000-11.000] take the books out of the backpack and place the books on the table
+2. [11.000-24.000] pick up the phone from the chair
+3. [24.000-29.000] place the phone on the table
+4. [29.000-43.000] pick up the blue book from the table and put the blue book into the backpack
+5. [43.000-53.000] pick up the green book from the table and put the green book into the backpack
+6. [53.000-61.000] pick up the black power bank from the table and put the black power bank into the backpack
+7. [61.000-66.000] pick up the red box from the table and put the red box into the backpack
+8. [66.000-71.000] pick up the pen from the table and put the pen into the backpack
+9. [71.000-76.112] zip the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000136.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000136.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c20f77ee108a178fe697cb64e6dd24e25558b1a4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000136.txt
@@ -0,0 +1,10 @@
+Task:
+Put the cup into the backpack, close the backpack, press a key on the laptop, and open the backpack again.
+
+Subtasks:
+1. [0.000-10.600] move the item in the backpack
+2. [10.600-15.600] put the cup into the backpack
+3. [15.600-32.700] zip up the backpack
+4. [32.700-35.500] move the backpack
+5. [35.500-46.100] press the keyboard of the laptop
+6. [46.100-62.549] unzip the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000137.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000137.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b892ce77e67f786a30c234b3fb591df0f97039d0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000137.txt
@@ -0,0 +1,16 @@
+Task:
+Move items between a backpack and a table while briefly interacting with a laptop.
+
+Subtasks:
+1. [0.000-2.000] take a notebook out of the backpack and place the notebook on the table
+2. [2.000-6.000] take a plastic bag out of the backpack and place the plastic bag on the table
+3. [6.000-11.000] take a black phone out of the backpack and place the black phone on the table
+4. [11.000-16.000] close the backpack
+5. [16.000-21.000] pick up the black phone from the table and turn to the laptop
+6. [21.000-26.000] press a key on the laptop
+7. [26.000-30.000] turn back to the table and place the black phone on the table
+8. [30.000-35.000] open the backpack
+9. [35.000-43.000] pick up a white pen from the table and put the white pen into the backpack
+10. [43.000-52.000] pick up an orange object from the table and put the orange object into the backpack
+11. [52.000-59.000] pick up a blue packet from the table and put the blue packet into the backpack
+12. [59.000-65.476] pick up a white bottle from the table and put the white bottle into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000138.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000138.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b4b7afe58d8ed211f027199f27e319766432ff
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000138.txt
@@ -0,0 +1,13 @@
+Task:
+Pack a box and a cup into a backpack and zip it closed.
+
+Subtasks:
+1. [0.000-5.000] pick up the red box from the table
+2. [5.000-10.000] place the red box into the backpack
+3. [10.000-16.000] pull the flap of the backpack over the opening
+4. [16.000-20.000] pick up the cup from the table
+5. [20.000-25.000] place the cup into the backpack
+6. [25.000-28.000] fold the flap of the backpack over the opening
+7. [28.000-44.000] pull the zippers along the track until the backpack is fully closed
+8. [44.000-52.000] rotate the backpack on the table
+9. [52.000-60.695] press a key on the laptop keyboard
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000139.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000139.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d812d90586c900533c9d1d28f988cac8f212a5bc
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000139.txt
@@ -0,0 +1,23 @@
+Task:
+Take out all the items from the bag.
+
+Subtasks:
+1. [0.000-4.700] take out the white bottle from the bag
+2. [4.700-7.800] put the white bottle on the table
+3. [7.800-10.700] take out the power bank from the bag
+4. [10.700-12.700] put the power bank on the table
+5. [12.700-15.600] take out the orange paper pack from the bag
+6. [15.600-18.400] put the orange paper pack on the table
+7. [18.400-22.100] take out the blue tube from the bag
+8. [22.100-26.000] put the blue tube on the table
+9. [26.000-29.300] take out the white tube from the bag
+10. [29.300-32.900] put the white tube on the table
+11. [32.900-35.800] take out the pen from the bag
+12. [35.800-38.400] put the pen on the table
+13. [38.400-41.500] take out the blue notebook from the bag
+14. [41.500-44.400] put the blue notebook on the table
+15. [44.400-47.500] take out the green notebook from the bag
+16. [47.500-51.700] put the green notebook on the table
+17. [51.700-57.800] take out the black card holder from the bag
+18. [57.800-63.500] put the black card holder on the table
+19. [63.500-69.672] move the bag to the left
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000140.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000140.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e33ce7efa80081a5e01fc41356ee06e2f05a5f3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000140.txt
@@ -0,0 +1,11 @@
+Task:
+Pack items into a backpack.
+
+Subtasks:
+1. [0.000-5.500] put the toothpaste into the backpack
+2. [5.500-10.400] put the toothbrush box into the backpack
+3. [10.400-18.700] put the red case into the backpack
+4. [18.700-27.100] put the toothbrush case into the backpack
+5. [27.100-39.700] put the green book into the backpack
+6. [39.700-48.400] put the blue book into the backpack
+7. [48.400-57.670] put the blue case into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000141.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000141.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0321603fdf6d33978245aec128f88f764b222b7d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000141.txt
@@ -0,0 +1,17 @@
+Task:
+Pack various items from the table into a backpack and close the backpack.
+
+Subtasks:
+1. [0.000-7.100] pick up the backpack from the chair and place the backpack on the table
+2. [7.100-10.300] open the backpack
+3. [10.300-13.800] pick up the light green notebook from the table and put the light green notebook into the backpack
+4. [13.800-17.800] pick up the dark green notebook from the table and put the dark green notebook into the backpack
+5. [17.800-23.700] pick up the black bottle from the table and put the black bottle into the backpack
+6. [23.700-26.600] pick up the white bottle from the table and put the white bottle into the backpack
+7. [26.600-33.100] pick up the blue and white bottle from the table and put the blue and white bottle into the backpack
+8. [33.100-36.900] pick up the toothbrush from the table and put the toothbrush into the backpack
+9. [36.900-41.900] pick up the blue box from the table and put the blue box into the backpack
+10. [41.900-49.800] pick up the small blue bottle from the table and put the small blue bottle into the backpack
+11. [49.800-53.500] pick up the orange box from the table and put the orange box into the backpack
+12. [53.500-57.100] pick up the brown cup from the table and put the brown cup into the backpack
+13. [57.100-62.723] close the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000142.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000142.txt
new file mode 100644
index 0000000000000000000000000000000000000000..13b4e3dbeace26054e1a8a651754dd63bf877a58
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000142.txt
@@ -0,0 +1,17 @@
+Task:
+Pack various items from the table into a backpack.
+
+Subtasks:
+1. [0.000-8.700] move to the table
+2. [8.700-12.800] open the bag
+3. [12.800-15.600] put the face wash from the table into the bag
+4. [15.600-18.900] put the spectacles box from the table into the bag
+5. [18.900-22.100] put the orange packet from the table into the bag
+6. [22.100-26.600] put the umbrella from the table into the bag
+7. [26.600-33.000] put the phone from the table into the bag
+8. [33.000-37.500] put the marker from the table into the bag
+9. [37.500-43.200] put the blue book from the table into the bag
+10. [43.200-50.500] put the green book from the table into the bag
+11. [50.500-56.100] put the cup from the table into the bag
+12. [56.100-60.600] put the toothpaste from the table into the bag
+13. [60.600-63.084] close the bag
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000143.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000143.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0623bdfc3e52863fba2f623ae5cc92f1d33b0ecb
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000143.txt
@@ -0,0 +1,16 @@
+Task:
+Pack various items from the table into the backpack.
+
+Subtasks:
+1. [0.000-5.000] put a book into the backpack
+2. [5.000-15.000] turn around and look at the laptop on the chair
+3. [15.000-20.000] put a green book from the table into the backpack
+4. [20.000-25.000] put an orange book from the table into the backpack
+5. [25.000-30.000] put a black tube from the table into the backpack
+6. [30.000-34.000] put a small white box from the table into the backpack
+7. [34.000-43.000] zip the inner compartment of the backpack
+8. [43.000-48.000] put a black power bank from the table into the backpack
+9. [48.000-52.000] put an orange pouch from the table into the backpack
+10. [52.000-57.000] put a blue tissue pack from the table into the backpack
+11. [57.000-63.000] put a green tube from the table into the backpack
+12. [63.000-68.664] put a box of toothpaste from the table into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000144.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000144.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46619e65ab7ba0ddff1a2a56b264a9f77ad81fc0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000144.txt
@@ -0,0 +1,15 @@
+Task:
+Pack various items from a table into a backpack.
+
+Subtasks:
+1. [0.000-5.000] take the notebook and the box of mosquito coils from the backpack and place them onto the table
+2. [5.000-13.000] organize the items on the table
+3. [13.000-18.000] type on the laptop
+4. [18.000-23.000] put the notebook into the backpack
+5. [23.000-28.000] put the box of mosquito coils into the backpack
+6. [28.000-37.000] put the black glasses case into the backpack
+7. [37.000-41.000] put the black wallet into the backpack
+8. [41.000-48.000] put the orange tissue pack into the backpack
+9. [48.000-59.000] put the blue tissue pack into the backpack
+10. [59.000-65.000] put the green pen into the backpack
+11. [65.000-70.473] put the tube of toothpaste into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000145.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000145.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e425ab38fc4d2b97d68b7295700e3a687155288
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000145.txt
@@ -0,0 +1,12 @@
+Task:
+Pack various items from the table and chair into a backpack.
+
+Subtasks:
+1. [0.000-10.400] stretch the backpack on the table to keep the backpack open
+2. [10.400-15.500] arrange the items on the table
+3. [15.500-23.300] pick up the black smartphone from the chair and place the black smartphone on the table
+4. [23.300-32.000] pick up the green book from the table and put the green book into the backpack
+5. [32.000-39.700] pick up the blue package and the tube from the table and put the blue package and the tube into the backpack
+6. [39.700-46.100] pick up the black marker and the silver object from the table and put the black marker and the silver object into the backpack
+7. [46.100-54.800] pick up the toothbrush and the green tube from the table and put the toothbrush and the green tube into the backpack
+8. [54.800-59.468] pick up the orange package from the table and put the orange package into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000146.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000146.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a2fa41337041c7754b565a119a72ccc8f31e235
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000146.txt
@@ -0,0 +1,15 @@
+Task:
+Unpack items from the backpack onto the table, and then pack items from the table into the backpack.
+
+Subtasks:
+1. [0.000-5.000] take out the white and blue tube from the backpack and place the white and blue tube onto the table
+2. [5.000-10.000] take out the black tube from the backpack and place the black tube onto the table
+3. [10.000-17.000] take out the blue box from the backpack and place the blue box onto the table
+4. [17.000-26.000] take out the black phone from the backpack and place the black phone onto the chair
+5. [26.000-30.000] pick up the black tube from the table and place the black tube into the backpack
+6. [30.000-33.000] pick up the white and blue tube from the table and place the white and blue tube into the backpack
+7. [33.000-37.000] pick up the blue bottle from the table and place the blue bottle into the backpack
+8. [37.000-41.000] pick up the orange packet from the table and place the orange packet into the backpack
+9. [41.000-47.000] pick up the toothbrush from the table and place the toothbrush into the backpack
+10. [47.000-52.000] pick up the blue box from the table and place the blue box into the backpack
+11. [52.000-58.848] pick up the green book from the table and place the green book into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000147.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000147.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad651349b66f60ccd9195c48caf9f173b9c3e7f1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000147.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000147.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000148.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000148.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8dd643b077f160980b9ec45e827890a9f8cf39bf
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000148.txt
@@ -0,0 +1,11 @@
+Task:
+Take books out of the backpack, check the laptop, and then pack the books and boxes into the backpack.
+
+Subtasks:
+1. [0.000-7.000] open the backpack
+2. [7.000-23.000] move the books from the backpack onto the table
+3. [23.000-33.000] operate the laptop
+4. [33.000-46.000] move the books from the table into the backpack
+5. [46.000-52.000] move the grey box from the table into the backpack
+6. [52.000-58.000] move the black box from the table into the backpack
+7. [58.000-63.963] move the transparent box from the table into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000149.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000149.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b29d35e848ec294efb5cd678b592b142d79666bf
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000149.txt
@@ -0,0 +1,17 @@
+Task:
+Unpack items from a backpack onto a table, type on a laptop, and pack selected items back into the backpack.
+
+Subtasks:
+1. [0.000-3.300] take a transparent case out of the backpack and place it onto the table
+2. [3.300-5.200] take a black box out of the backpack and place it onto the table
+3. [5.200-8.400] take a yellow bag out of the backpack and place it onto the table
+4. [8.400-11.800] take a face wash out of the backpack and place it onto the table
+5. [11.800-14.700] take a glasses case out of the backpack and place it onto the table
+6. [14.700-17.600] take a marker out of the backpack and place it onto the table
+7. [17.600-22.100] take a facial cleanser out of the backpack and place it onto the table
+8. [22.100-30.700] take some books out of the backpack and place them onto the table
+9. [30.700-35.100] type on the laptop keyboard
+10. [35.100-41.900] take a book from the table and put it into the backpack
+11. [41.900-46.700] take another book from the table and put it into the backpack
+12. [46.700-51.400] take the transparent case from the table and put it into the backpack
+13. [51.400-55.438] take the glasses case from the table and put it into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000150.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000150.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ff6349108bd9a5edc10d823b539ef626e5bdac6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000150.txt
@@ -0,0 +1,18 @@
+Task:
+Unpack items from a backpack onto a table, throw a black object into a trash bin, and pack some items back into the backpack.
+
+Subtasks:
+1. [0.000-4.100] take out a toothpaste box from the backpack and place it on the table
+2. [4.100-8.300] take out a cylindrical container from the backpack and place it on the table
+3. [8.300-12.500] take out a blue box from the backpack and place it on the table
+4. [12.500-15.600] take out an orange packet from the backpack and place it on the table
+5. [15.600-18.700] take out a white box from the backpack and place it on the table
+6. [18.700-22.900] take out a blue tube from the backpack and place it on the table
+7. [22.900-26.000] take out a black stapler from the backpack and place it on the table
+8. [26.000-35.400] take out books from the backpack and place them on the table
+9. [35.400-41.600] pick up the black object from the table and throw it into the trash can
+10. [41.600-45.800] pick up the blue box from the table and put it into the backpack
+11. [45.800-48.900] pick up the orange packet from the table and put it into the backpack
+12. [48.900-53.100] pick up a book from the table and put it into the backpack
+13. [53.100-57.300] pick up the white box from the table and put it into the backpack
+14. [57.300-62.671] pick up the stapler from the table and put it into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000151.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000151.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d85a4d97d6405f6050b7533aa9bd1e5c71c9260
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000151.txt
@@ -0,0 +1,16 @@
+Task:
+Unpack items from a backpack onto a table and pack some of the items back into the backpack.
+
+Subtasks:
+1. [0.000-4.000] unzip the backpack on the table
+2. [4.000-8.000] take out the green notebook and the brown cylinder from the backpack and place the green notebook and the brown cylinder on the table
+3. [8.000-15.000] take out the blue notebook and the pencil case from the backpack and place the blue notebook and the pencil case on the table
+4. [15.000-20.000] take out the orange packet from the backpack and place the orange packet on the table
+5. [20.000-27.000] take out the black box and the white object from the backpack and place the black box and the white object on the table
+6. [27.000-32.000] take out the pens from the backpack and place the pens on the table
+7. [32.000-45.000] turn around, pick up the phone from the chair, and place the phone back on the chair
+8. [45.000-49.000] turn to the table and adjust the backpack on the table
+9. [49.000-54.000] pick up the green notebook from the table and put the green notebook into the backpack
+10. [54.000-63.000] pick up the blue notebook from the table and put the blue notebook into the backpack
+11. [63.000-67.000] pick up the black box from the table and put the black box into the backpack
+12. [67.000-73.314] pick up the green pen from the table and put the green pen into the backpack
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000152.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000152.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f7299773c805fd7976ad653534629292c9fa6c5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000152.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000152.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000153.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000153.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54532651cb34b4ee45f8d1d5568ead6de3d117b5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000153.txt
@@ -0,0 +1,15 @@
+Task:
+Fold a piece of paper into a specific shape on a table.
+
+Subtasks:
+1. [0.000-31.000] fold a piece of paper into a small box and place the box on the table
+2. [31.000-43.000] interact with the laptop
+3. [43.000-54.000] pull a new piece of paper from the red folder onto the table
+4. [54.000-81.000] fold the piece of paper in half
+5. [81.000-94.000] unfold the piece of paper
+6. [94.000-120.000] fold the bottom edge of the paper to the middle crease
+7. [120.000-148.000] fold the top edge of the paper to the middle crease
+8. [148.000-170.000] fold the right corners of the paper to form a point
+9. [170.000-202.000] fold the right point of the paper inwards
+10. [202.000-228.000] fold the left corners of the paper to form a point
+11. [228.000-262.422] fold the left point of the paper inwards
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000154.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000154.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03561008de6a67add090b7b1e1a5840e0f394b63
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000154.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000154.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000155.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000155.txt
new file mode 100644
index 0000000000000000000000000000000000000000..125cab418d1dafa51a28b0deeb49f491f8439e00
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000155.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000155.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000156.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000156.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7be22e18118bdef417ce99ebd42830b3e2b23af
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000156.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000156.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000157.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000157.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c32c6560e85e8ac32732cc0418a208c76ab601f5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000157.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000157.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000158.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000158.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b3f67a57884aa194cb788f9cff5afa63c791332
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000158.txt
@@ -0,0 +1,20 @@
+Task:
+Assemble two plastic drawer organizers from flat parts and stack them on the table.
+
+Subtasks:
+1. [0.000-24.000] look at the plastic parts on the table and the laptop screen
+2. [24.000-41.000] attach two small white clips onto a clear plastic panel
+3. [41.000-56.000] attach a white side panel with holes onto a white base plate
+4. [56.000-74.000] attach the clear plastic panel onto the white base plate and the white side panel
+5. [74.000-114.000] attach several small white clips onto the top edge of the clear plastic panel
+6. [114.000-136.000] attach a second clear plastic panel onto the opposite side of the white base plate
+7. [136.000-157.000] attach a second white side panel with holes onto the remaining side of the white base plate
+8. [157.000-179.000] insert a white divider panel with holes into the first assembled box
+9. [179.000-197.000] insert a second white divider panel with holes into the first assembled box
+10. [197.000-210.000] move the first assembled box to the side of the table and place a second white base plate onto the center of the table
+11. [210.000-222.000] attach small white clips onto a third clear plastic panel
+12. [222.000-239.000] attach a white side panel with holes onto the second white base plate
+13. [239.000-261.000] attach another white side panel with holes onto the opposite side of the second white base plate
+14. [261.000-294.000] attach the third clear plastic panel onto the front of the second white base plate
+15. [294.000-307.000] press the sides of the second assembled box together until the sides are firmly attached
+16. [307.000-317.186] place the second assembled box onto the first assembled box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000159.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000159.txt
new file mode 100644
index 0000000000000000000000000000000000000000..380579a17d9413c653b02ec91061e12b14ac2a4a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000159.txt
@@ -0,0 +1,16 @@
+Task:
+Assemble two storage boxes from their components and stack them.
+
+Subtasks:
+1. [0.000-13.000] attach the back panel to the base panel
+2. [13.000-22.000] operate the laptop
+3. [22.000-41.000] attach the front panel to the base panel
+4. [41.000-51.000] attach the side panel to the base panel
+5. [51.000-81.000] attach the other side panel to the base panel
+6. [81.000-91.000] insert the divider into the box
+7. [91.000-110.000] insert the other divider into the box
+8. [110.000-128.000] attach the back panel to the base panel
+9. [128.000-140.000] attach the side panel to the base panel
+10. [140.000-150.000] attach the other side panel to the base panel
+11. [150.000-179.000] attach the front panel to the base panel
+12. [179.000-192.904] stack the first box onto the second box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000160.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000160.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2036773604b9f511c6603a31604794c1c4c3bca
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000160.txt
@@ -0,0 +1,18 @@
+Task:
+Assemble two storage boxes with dividers on a table.
+
+Subtasks:
+1. [0.000-7.000] adjust the position of the white base on the table
+2. [7.000-27.000] interact with the laptop
+3. [27.000-41.000] pick up a clear side piece and attach it to the white base
+4. [41.000-48.000] pick up a white side piece with holes and attach it to the white base
+5. [48.000-88.000] interact with the laptop and phone
+6. [88.000-103.000] pick up another white side piece with holes and attach it to the white base
+7. [103.000-119.000] pick up a plain white side piece and attach it to the white base
+8. [119.000-128.000] pick up a divider piece and insert it into the assembled base
+9. [128.000-138.000] pick up another divider piece and insert it into the assembled base
+10. [138.000-142.000] move the assembled base to the side of the table
+11. [142.000-152.000] pick up a clear side piece and attach it to a second white base
+12. [152.000-160.000] pick up a white side piece with holes and attach it to the second white base
+13. [160.000-179.000] pick up another white side piece with holes and attach it to the second white base
+14. [179.000-192.548] pick up a plain white side piece and attach it to the second white base
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000161.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000161.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c448414934134a420d5c1d23e45a69867146d1a9
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000161.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000161.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000162.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000162.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cca26a0df3f43644c19360eddad65d313fba9d2c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000162.txt
@@ -0,0 +1,16 @@
+Task:
+Assemble a plastic storage box with dividers.
+
+Subtasks:
+1. [0.000-16.000] type on the laptop on the chair
+2. [16.000-27.000] pick up a panel and assemble it onto the back of the base board
+3. [27.000-39.000] fold the front panel of the base board
+4. [39.000-55.000] pick up a panel and assemble it onto the right side of the base board
+5. [55.000-68.000] pick up a panel and assemble it onto the left side of the base board
+6. [68.000-80.000] pick up a clip and insert it onto the right corner of the box
+7. [80.000-93.000] unfold the second base board on the table
+8. [93.000-103.000] fold the front panel of the second base board
+9. [103.000-118.000] pick up a panel and assemble it onto the right side of the second base board
+10. [118.000-140.000] pick up a panel and assemble it onto the left side of the second base board
+11. [140.000-150.000] pick up a divider and insert it into the second box
+12. [150.000-157.775] pick up a divider and insert it into the second box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000163.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000163.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dda462623ad30ae6d2247354f1645724dc3d831a
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000163.txt
@@ -0,0 +1,15 @@
+Task:
+Assemble plastic storage boxes by inserting various boards into a base.
+
+Subtasks:
+1. [0.000-16.000] assemble a board onto a plastic base
+2. [16.000-23.000] interact with the laptop
+3. [23.000-46.000] rearrange the plastic bases on the table
+4. [46.000-76.000] assemble a board onto the second plastic base
+5. [76.000-89.000] assemble an end board onto the second plastic base
+6. [89.000-106.000] swap the positions of the plastic bases on the table
+7. [106.000-127.000] assemble a side board onto the first plastic base
+8. [127.000-157.000] insert a divider board into the first plastic base
+9. [157.000-169.000] insert a second divider board into the first plastic base
+10. [169.000-184.000] assemble an end board onto the first plastic base
+11. [184.000-194.959] assemble the final end board onto the first plastic base
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000164.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000164.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26fc7760dc1a6cab5042f56535882c5aadfea9b0
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000164.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000164.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000165.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000165.txt
new file mode 100644
index 0000000000000000000000000000000000000000..388ff05678a709fa791dcfe18b3ad672c11e2923
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000165.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000165.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000166.txt b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000166.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db984367782fb5845fff72a86b9e510ec46f8cfb
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/captions/take-000166.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000166.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-8/raw/imu/take-000000.parquet b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/imu/take-000000.parquet
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--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-8/raw/imu/take-000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d0aab5b61d7331ff071d852bb3bb205315d74100591d8d3e8282f43af88512
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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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+version https://git-lfs.github.com/spec/v1
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