diff --git a/.gitattributes b/.gitattributes
index 5c5d253a014ad382e8438dc974d64371dfc1e793..34730b735423c2209656beac15903f0b5b50ea75 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -245,3 +245,12 @@ collect/20260801_174946_Carton/ep_Carton_1785595857_002/tactile_right_keyframes.
 collect/20260801_174946_Carton/ep_Carton_1785595857_002/tactile_right_keyframes.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
 collect/20260801_174946_Carton/ep_Carton_1785595857_002/tactile_right_keyframes.zarr/data/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
 collect/20260801_174946_Carton/ep_Carton_1785595857_002/tactile_right_keyframes.zarr/data/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/1 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/0.0.0 filter=lfs diff=lfs merge=lfs -text
+collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fb90052a93c9b95cecbd60c29067ec8d713c544c
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/0.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/1.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ad052c16760cb8204e6d17fc4ed468bf49497
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/1.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/2.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..a645457bf2291d8b47f508988abe29a285a97f36
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/2.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/3.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..485afb25f535a027e4c7c42eb23b3b1918b28156
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/3.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/4.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..f63bafbdf8e4f6552a3b74e7cfdc439078c43f8b
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/4.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/5.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..ca4fbd77aa0a46ca16f60d655350373ae8e0587d
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/5.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/6.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..bbf7276262a75df170887d267c230efa4d8951ec
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/6.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/7.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..6985744e79eb76191e30a24c7c24b26ac5a65b2d
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/7.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/8.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..0e647445ee5f5dcee7033b8c26a3e825453af2e9
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/data/8.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..07b5dccda597986546238bd8244f367a2ddfff6d
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/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": [
+        1015
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e404585c8b91aba3b36e0344f9e590d43f69dbf
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/1 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/1
new file mode 100644
index 0000000000000000000000000000000000000000..46dbdf5345d04913e755c47dd20178ad253dd829
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/1 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/2 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/2
new file mode 100644
index 0000000000000000000000000000000000000000..45dcefb22ba37fe014af5c2fcb9004a443b3666c
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/2 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/3 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/3
new file mode 100644
index 0000000000000000000000000000000000000000..7bb013523d5f0865a3157769cf7624211c90cf17
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/3 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/4 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/4
new file mode 100644
index 0000000000000000000000000000000000000000..610998649f36651e45a6dcc7a531f56dcec16cc8
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/4 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/5 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/5
new file mode 100644
index 0000000000000000000000000000000000000000..5e00ccfc15ec2a3beeb893f7a2f7dde32a7fff95
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/5 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/6 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/6
new file mode 100644
index 0000000000000000000000000000000000000000..5042f2898e72827b580fa5a3018916979bb9b589
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/6 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/7 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/7
new file mode 100644
index 0000000000000000000000000000000000000000..cfba25bca690a0074dfdb986c25fc07444705da4
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/7 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/8 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/8
new file mode 100644
index 0000000000000000000000000000000000000000..d5aceeb08ec69c9cbdca8b42925bb60f255f84af
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/arm_tcp_speed.zarr/ts/8 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zattrs b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zattrs
new file mode 100644
index 0000000000000000000000000000000000000000..c3051b437d5beb33852641a754781911e8458b86
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zattrs
@@ -0,0 +1,10 @@
+{
+    "encoding": "jpeg",
+    "frame_dtype": "uint8",
+    "frame_shape": [
+        480,
+        640,
+        3
+    ],
+    "jpeg_quality": 92
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5daa72c1dc21efd620b65547dcc8c23c4cce5300
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/.zarray
@@ -0,0 +1,25 @@
+{
+    "chunks": [
+        105
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "lz4",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "|O",
+    "fill_value": 0,
+    "filters": [
+        {
+            "id": "vlen-bytes"
+        }
+    ],
+    "order": "C",
+    "shape": [
+        122
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/0
new file mode 100644
index 0000000000000000000000000000000000000000..4e9fd7ba44d42aa85b3e54c9d6f81a4de09b83cd
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b276821f2a60ca8d713e50869ef1af96f7e82c0f0e72b1022777ca56f9ccbc8
+size 7869351
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/1 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/1
new file mode 100644
index 0000000000000000000000000000000000000000..14859dd74eea66a0048002bddf50aab97785c912
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/data/1
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e933a8d8ee64c37d22f5f644d3407b390dd10bb191a7f73a5c4c00857a921a
+size 1281512
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a2843c5e6bfbcce74bb5966c100ad7170f7142a9
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.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": [
+        122
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa79fb0f901b68ec89574bcc372daae27a73b8e5
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/1 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/1
new file mode 100644
index 0000000000000000000000000000000000000000..7474e96307d2001b03464153e137ff4bff076cce
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/camera_scene_color.zarr/ts/1 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..f7dfef849ed74ab2fc99930202e3ca36c0de5b6d
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        2
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        765,
+        2
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f7a4911fff23ba32f2a98d565ac5f912f87edfb5
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/0.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/1.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..19146a2ebcaf34aa85c5ef8c3f8070c8befdda71
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/1.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/2.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c7b0fe556ae276ab032e1a6e2bbcfb41cc364ec
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/2.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/3.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c7b0fe556ae276ab032e1a6e2bbcfb41cc364ec
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/3.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/4.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c7b0fe556ae276ab032e1a6e2bbcfb41cc364ec
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/4.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/5.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c7b0fe556ae276ab032e1a6e2bbcfb41cc364ec
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/5.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/6.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..ba04aada087ab360cc7b8ad18dc01ebd3bd57554
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/data/6.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c32cbbbd388d2dc16fa823d32f06f550e0df8217
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.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": [
+        765
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..249eb9cdea64077becb02a878d9967b1dc0e2b1c
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/1 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/1
new file mode 100644
index 0000000000000000000000000000000000000000..45ac8f1f38b5a529dde9adb8719813bfc468b502
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/1 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/2 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/2
new file mode 100644
index 0000000000000000000000000000000000000000..d575116e146768695b84b4d6c6d731df9c5fe5ca
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/2 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/3 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/3
new file mode 100644
index 0000000000000000000000000000000000000000..22ea7cfc88e6933298201015809f30d7ddd219ff
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/3 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/4 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/4
new file mode 100644
index 0000000000000000000000000000000000000000..80e6c8edcf44f624fde7a44deaa63e344a5813ee
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/4 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/5 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/5
new file mode 100644
index 0000000000000000000000000000000000000000..8438a31eac92fa7c50ac09e505a39310ad429d93
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/5 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/6 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/6
new file mode 100644
index 0000000000000000000000000000000000000000..2e18aa8d07cc3f82b24db1450d33df3ba57cb53d
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/gripper.zarr/ts/6 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/meta.json b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3259f0ec11a9a67b2473552c97c51f6691d059
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/meta.json
@@ -0,0 +1,45 @@
+{
+ "task": "Carton",
+ "text": "Carton",
+ "operator": "k",
+ "tags": [
+  "full"
+ ],
+ "policy": "teleop",
+ "dagger_round": -1,
+ "success": null,
+ "notes": "arm_guard:pstop",
+ "driver_modes": {
+  "drivers": "real"
+ },
+ "clock_calibration": {
+  "offset": -52.24683081774856,
+  "n_samples": 200,
+  "spread_s": 0.003252731452732917
+ },
+ "config_hash": "b2504b6d5ff0c29d",
+ "hardware_shapes": {
+  "field": [
+   288,
+   384
+  ],
+  "field_ch": 8,
+  "keyframe_ds": [
+   144,
+   192
+  ],
+  "n_fingers": 2,
+  "wrench_dim": 6,
+  "wrist_ft_dim": 6,
+  "wrist_window_len": 31,
+  "ur_state_dim": 26,
+  "contact_state_dim": 11,
+  "action_dim": 7,
+  "chunk_horizon": 16,
+  "cpk_shape": [
+   36,
+   48
+  ]
+ },
+ "status": "finalized"
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b617dcf5000b39989a871dc836e907d568eb287c
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/.zarray
@@ -0,0 +1,21 @@
+{
+    "chunks": [
+        120
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/0
new file mode 100644
index 0000000000000000000000000000000000000000..53d9e03ac3ddeea348b175335effd689f8afb320
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/data/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..ad47cfe60c4c7bc9a280c2d7abf969766f15f1fe
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_area.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e2e7091e8c98f1e786f936235e0e844c709c04a4
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        72,
+        72,
+        96,
+        8
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f2",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        44,
+        72,
+        96,
+        8
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/0.0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..aa333b441fb9efe00613d4a0b714daabe2aa605a
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/data/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78610ad734060fa66ac6219335497439a541ca3d902f6f6aecbe7a5278f1d8d7
+size 3662281
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d52c60ca50c2d88f86c477a50694eeec2ade9321
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.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": [
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..6156c352af698464115c86b7f3e07186a953298a
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_fields_ds.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..04396bf6d8603c33d4261da4109986a39ec947c4
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/.zarray
@@ -0,0 +1,25 @@
+{
+    "chunks": [
+        72,
+        288,
+        384
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45,
+        288,
+        384
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..06201db9d0ce9651f8331fc64649b8403600dafe
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/data/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea7497ed047efd28858267813759ca53364d7042f140ddfcb7cf3742db0359b
+size 3443836
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..ad47cfe60c4c7bc9a280c2d7abf969766f15f1fe
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_infer_img.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..edd7ebf327c7ea51ab1c08b8a43155c792bf89a9
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        18,
+        144,
+        192,
+        8
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f2",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        20,
+        144,
+        192,
+        8
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/0.0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..10ff7f9122db0b1d030c9d52de62caf2387246ce
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0061956539bc08d0f7c065f03c843376dd502a9b6dfee256aa8faf324eae0d
+size 5644783
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/1.0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..404e50f89b5fef46ac5f2c640fbe0eac617a4c95
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/data/1.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ab5280032720e0fa1d69629f6c5346738018a948750b7cf777d4aab346663f
+size 624447
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ce247badacd2fb98d99a98716c97e3dd430fb535
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.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": [
+        20
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..99781128993f8d89eca88d2d5407e2209354e87c
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_keyframes.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..14df43726decedac5a692cb5315d88d72a0a99f7
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a3beabebafa0cbbd58d43bd664e9d6c5e1fee
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/data/0.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..ad47cfe60c4c7bc9a280c2d7abf969766f15f1fe
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_left_wrench.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b617dcf5000b39989a871dc836e907d568eb287c
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/.zarray
@@ -0,0 +1,21 @@
+{
+    "chunks": [
+        120
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/0
new file mode 100644
index 0000000000000000000000000000000000000000..53d9e03ac3ddeea348b175335effd689f8afb320
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/data/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..498af287c496585ab2a794289d8bc186e5e80780
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_area.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..050e553a4c1493cc14cde29b9a787c2d7aa476db
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        72,
+        72,
+        96,
+        8
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f2",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45,
+        72,
+        96,
+        8
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/0.0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e80de9fb9ce8835c492cdb9fb5a854b356f82d12
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/data/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b213fe29b22260864da08eab0a043be0466acb20495d6b5cd16ba92097eac5ec
+size 3160529
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..498af287c496585ab2a794289d8bc186e5e80780
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_fields_ds.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..84363da8f35a54414b9cab54264f8b81714d9337
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/.zarray
@@ -0,0 +1,25 @@
+{
+    "chunks": [
+        72,
+        288,
+        384
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        46,
+        288,
+        384
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..91e8bab5d568fdb6d74144c682302905c30d1fc6
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/data/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d11cc97132361a7189b488ccda24df642b5c772a5546838e4199b690080754
+size 4298667
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6a73dd21380abe27fcc1747be9f7b0661c167e06
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.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": [
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..4c9fe2e91966ad5ce9650bb72bdd0fb6ef3f3dfb
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_infer_img.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..81233ebe2b9815517b395f7ecd114c62bb1b0d38
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        18,
+        144,
+        192,
+        8
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f2",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        18,
+        144,
+        192,
+        8
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/0.0.0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..74e952177ad9fcf482a0fce18b8136a6b49aae71
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/data/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6ae088affa2e279bee14dc33a24e5bd478adb0d3d5219d0e473b791d22abe5
+size 4806671
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..92729a8d3f00d762b11b9ae9a246d991728c1d73
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.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": [
+        18
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..31cf17303fd071944d9e5744b29b38727480711e
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_keyframes.zarr/ts/0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/.zgroup b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..14df43726decedac5a692cb5315d88d72a0a99f7
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        120,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        45,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/0.0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..abf95f1fe54c66aad160d5ce615b69d7d88ffae9
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/data/0.0 differ
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/ts/.zarray b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/ts/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c0c07f507f05f18e26d2e477c6a711d1b3c07bf1
--- /dev/null
+++ b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.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": [
+        45
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/ts/0 b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/ts/0
new file mode 100644
index 0000000000000000000000000000000000000000..498af287c496585ab2a794289d8bc186e5e80780
Binary files /dev/null and b/collect/20260801_174946_Carton/ep_Carton_1785595893_003/tactile_right_wrench.zarr/ts/0 differ