diff --git a/.gitattributes b/.gitattributes
index 7f6f349323729105b650fdb73dddae841993c2e9..04a958233522d03edd54af6fc3c93011bd4e54bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -65,3 +65,23 @@ collect/20260731_191851_t/ep_t_1785514760_000/tactile_left_keyframes.zarr/data/0
 collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
 collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
 collect/20260731_191851_t/ep_t_1785514760_000/tactile_right_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/camera_scene_color.zarr/data/0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/camera_scene_color.zarr/data/1 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/camera_scene_color.zarr/data/2 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/camera_scene_color.zarr/data/3 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_fields_ds.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_infer_img.zarr/data/1.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_keyframes.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_keyframes.zarr/data/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_left_keyframes.zarr/data/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_fields_ds.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_infer_img.zarr/data/1.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_keyframes.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_keyframes.zarr/data/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_184043_Carton/ep_Carton_1785599027_001/tactile_right_keyframes.zarr/data/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/21.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/21.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/21.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/22.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/22.0
new file mode 100644
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/23.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/23.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/23.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/24.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/24.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/24.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/25.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/25.0
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/3.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/3.0
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/4.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/4.0
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/5.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/5.0
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/6.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/6.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/6.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/7.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/7.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/7.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/8.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/8.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/8.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/9.0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/9.0
new file mode 100644
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Binary files /dev/null and b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/data/9.0 differ
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/.zarray b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..15459dd5a3cb896f86fc01c636795b979edb1a59
--- /dev/null
+++ b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/.zarray
@@ -0,0 +1,21 @@
+{
+    "chunks": [
+        120
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        3090
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/0 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/0
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/1 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/1
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/10 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/10
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/11 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/11
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/12 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/12
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/13 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/13
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/14 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/14
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/15 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/15
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/16 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/16
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/17 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/17
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/18 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/18
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/19 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/19
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/2 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/2
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/20 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/20
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/21 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/21
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/22 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/22
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/25 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/25
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/5 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/5
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/6 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/6
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/7 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/7
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diff --git a/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/8 b/collect/20260801_184043_Carton/ep_Carton_1785599027_001/arm_tcp_speed.zarr/ts/8
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