diff --git a/.gitattributes b/.gitattributes
index dc0e277e8e1afcf991b2660f825e656db2e39e55..a5f82201a860542a41ef4d40ce009a109ecf4639 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -174,3 +174,173 @@ dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10132_2026-08-19_05-44-38_4
 dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10132_2026-08-19_05-44-38_480759/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
 dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30049_2026-08-19_03-13-24_726442/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
 dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30049_2026-08-19_03-13-24_726442/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20154_2026-08-19_06-10-51_013488/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/state/0.0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action_rotvec/0.0 filter=lfs diff=lfs merge=lfs -text
+dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action/0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9d4fc16d3824af2f72a3c5dba72fbdb574738b0b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e7344fa0541460fc2db44e79c5a9a2b0eac6014052ce888eba0d5098a17146
+size 146858
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c38f3f0e268eece11006edaa318beaded55b4c68
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2eeebe4f5c891cf2099e869b1e9f3d87eaa569acf05273ec9052b7e9bfa93f
+size 147350
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..109230742541a3b5b3bc8693ec9badaa54142901
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62c91f6e908e46b41cb09527cb8bc03f654eb17958e02ce600a363cfb2120cb6
+size 1579886
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a93a9a32980c0871bf29d5dbb6152873d4cd792a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a21d2d63eb09aec1623fd486384e1e60e52762b9d82c7e8aae32828c807c8a
+size 1438233
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68706f6301c83e3ae10c1e83daf1bdc9fe425695
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10021_2026-08-19_01-57-52_465769/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a10fc64e3d30889134c140b7042e797e641ad2c668f1e3061f8274e6bd7ce6e0
+size 1626057
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..20b48c74abe8252074c8654c9e9ac47cea70e0d2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        587,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        587,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e9234e75452fc12c5f7cced358a0b28728858148
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        587,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        587,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0a32936f885602284581a1222fb544579ffacbf7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        587,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        587,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..eb51acc8a90f65ad790b3fcefff799b5a65f13cf
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..974cfce61a92f5d40f987d58fece867f010db427
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        587
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        587
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..73758f04066364829a6e53c32c58f7ce75337f58
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..bda43a862630cc0be13f38a9c10c8fb6a946e8a9
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10023_2026-08-19_02-06-53_546787/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ba93ad5473d2fdb2c4d26cbf19d06dec7db14966
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        524,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..95b9c8f76f3361dbed7f2c9316f6e0ad4bb7297f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        524,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6565b1bef260e523c911f2446b9a2d0b2d817e06
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        524,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1099ba9826895ba66d89ca74fd5ee28b74400e68
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..05cfd29f0f595f890b3efc91e1143c65e69d8826
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        524
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..0d3ec7046d47901e52ad17db7fe4086a0a5bfb2a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..dc4d0a6c28ea48df7ef12b09b56831f3ec48a2df
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10024_2026-08-19_02-07-35_567461/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0580d2f655a2ac578031a1064210cc8f9b6e609b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        515,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        515,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cc8ed7d6edc95c067c9b16ecc3420f87dda5e6bf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        515,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        515,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0cbbe1e692c3c0546b4c2a15d9c91f0132e5048e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        515,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        515,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b1d5efcda7e9d850e9a2176a8be4da4fb4e370a5
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1d36d8f8c7b7583029b689d68d9491398185a383
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        515
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        515
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..09c283e6342b5d761998daffecf658c7b3f90a76
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..1b0707a54befb13cc5be1694e364095d8aa601b3
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10030_2026-08-19_02-19-56_537841/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2487bc4485dc08d2829e6895558dba5bce396470
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e371763330f6370af5f7230b01db58297be0a4d84060677f745894d0712fbc0b
+size 176741
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..475241fb87752a098db02a85b949e9aa13b76ae2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6189b235de756e3685f1cd0a8bb24f752d091b2db691d86533c3d7e295e548d
+size 168806
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..703800834c7808f356496f29fc0ff7c7fc489a89
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4efada65c4f29ac9d1e0a5cd3006a6f7f21bc27a876f0db1dbcda6c5f91068
+size 1569092
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c91c369225bcdf3b167cc216af6a5b741464ace
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6893026c4191ca649c593b2d35980c9cb0cf41e7bb25b6c5a38b225cf5eac85
+size 1450884
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc471bce3a9b21b8e7bc909f002ca6cda08f3656
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10045_2026-08-19_02-57-48_943408/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5576c33ed661fae949678d3c51de7e36f535e5764f44ed4205bddadffe4cf455
+size 1446638
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1bf38a0579a111983c58e8f0077dc737f6685736
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1284ff03328ca5b0e473d81abd2e717503a2b5a8530e49936f8c913f79f85a5b
+size 179720
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..797cae3aa7af253ee458fb3917648f8c59a50e2a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a89b86bf991da8322977d6ba7bdcd03b9d5499c3cbfbd9aaf5c7b48282310b8
+size 171125
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..72dfbf3ad0824600e4c4b2a0c5eb69405040f764
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135ed224e4de4313fd4d6930df3a390e36dc6b9ace23a49e4929e6479622b2b5
+size 100805
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3145aa113ffdfccc03160e73bd0f8e530f938eaf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a54b85495a1140cb1f47930ae0defd14cf7b15c94171fe001175a99c6de2a24
+size 1635878
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34929016a55c387568322a7fe85a9427cfc0b10e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c979604f9452a384609fd3b89881c9f04f2cccb17a6517ab35d159cff949ba
+size 1407513
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f1cce4b58ba572557ded39fd059acc806bdb111
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10065_2026-08-19_03-45-01_043065/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f5fb8497a4c633a8059ae2c655cf806cca45441341a2efd4f16d48e00a3f92
+size 1539501
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b3436392f0d420d302e33fa1f4c9e3d19e614ee8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        535,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        535,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..72ded5ed43291f288560e69c46d66eb9b7a5c01d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        535,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        535,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a7222f8c827b5fa62b3663915b42295caff6ddd9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        535,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        535,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e5b7ef4a624f1af14b8b3c8120d70086a1a15960
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..21071a8746600b37b86fadfbaf001dca7f8d477f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        535
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        535
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..68e9ff03015b847a59aca3d57e932ba4bb2d4ec3
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..b48ea69a16f7e4b354fd5f791e98811e35c7ab3c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10072_2026-08-19_04-03-01_777357/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0fc14d1edfd94ac0314069ebd1d8f17f2d032355
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        1100,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1100,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e882a9d739d74ce95a1148d46e966a9dbce9da13
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        1100,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1100,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3944c71e6f3da15425fba68cf05e54480d0c6d6b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        1100,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1100,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e7c4b13daf7f00fa8514fd31f6d1b76f4902328f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        1100
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1100
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..f3af52f68e09280e144eab9b125b3ff0b168861c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..42b9e089ae762a77e0c0eed13a7bd4737cb83e95
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10083_2026-08-19_04-23-13_248496/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..106db1c6b9007f347ee0a9328037e334b59f2bdd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c0a20cf016f6c66b475692431fe9f5d9223f5ca80af4f0b19f473367a01cce
+size 171130
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c1b0d711c62ebf1e951253eb04f10c31fdb960d1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a3528713009253d02fe2952cefccdd6eb71f811413ddafeb8a773b820ae986
+size 159515
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..53f71c9f6da03ff3d344c4689236dd3a29fcd23f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01046946709f13106897a5209bf3197496ea5dfbaba25b497b02e63078ca579a
+size 123263
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..514d2db71177323dc33aea4d0c6ac657d9067e30
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcf4b641d54f0b33a6964ab1275f7d76d0779ca4549a67c5acc1b9595311707c
+size 1670044
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d7488919807d30a6bfaae1e2e5a91bcfa4387b6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42192e8a443ba4c4f8a70250803d3339ca558999750de355921e75474166005
+size 1419246
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9d6c88e5ed73a6c0c78d1c09200ca0fa4cbe0a6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10088_2026-08-19_04-29-38_733142/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c6ab5d7da8463204c8e7eecf9da1f593f9b3b9c16788b0e5eb767013a7d94a
+size 1683938
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..10d214d0845e16644bb03da01fdb833a7a4d8ad1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28303f9d6685ae77aa1e84b75d9ea3f10318c54c6742d49966565c0cdcaa5331
+size 130594
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1c731ec768fcd4fc9f20983b309e71562b86ce8c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f21b175b9796e3ddda0166773f1391eb48ba618016e51f8ef05c5f385eb8cc
+size 135897
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3b93d6b1518ba241dc0a251c431575e2eb2d517
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50a2fa8d7187d2ae3e55b89d2d8d4181482f95cecd86b36da34dee14a923e4d3
+size 1469199
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..faa54a7ec19c9f6c0e8d3a3d12f5e6e7fcddc861
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce1108347f9288db1f419f89de9cfb9b86a3b65624eaa34c612bf3bc28aca36
+size 1285385
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..462042cce8aa2fb1c17df19fd0c558f14a6093db
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10097_2026-08-19_04-46-17_255390/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4965ea49c6436a2e28d26dc01d826e63d115e3566b4177666a0e0bf59f3213a2
+size 1361911
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e8eb90cb55301e2e3e433db5663443b7598521e3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        532,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        532,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..75e553c86c05a732c1088d4c41c7dadec40a79f7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        532,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        532,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..75bee4b5f85d40c914978179b7318a1759172343
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        532,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        532,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b9ff222cdc22dc189f826680fc5703061116a14e
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0e92fc633adfdc5f24d2bf7379790760f71daea5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        532
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        532
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..625ae426f93144e513b430e23876aa71ee548110
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..d51b9437b545ce72327e31a518da15fcfd425bb7
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10098_2026-08-19_04-47-28_992023/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..37c64df1bfbc14e01913e5b4ceeeb4a3676ca7c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad47c6104b1d77a1109f896a5eb01f0eaeb576d4ceea8063be35f3f9d78ff17a
+size 256467
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ce8df5367cd341756cefcf85482f8a9edd9e5ec8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cbb2842f530a7759d90271f57cb76ac6df333d659a53d19545d95966bf5251
+size 237640
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..51ef55d5dd2ea6c02b6c6d13c5da5946e0f36566
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df02077ef5564e56015e13594c28ee7ed87e318c330841d01b46ef567aa88673
+size 148148
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc08dbf25ebbd382879b22aeb870c1a39f0506f7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838d2f3208549536d72a0ebd3631e40d140d8f84f78992103ffff5849a8aee11
+size 2346712
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97714741871c4663a97716cf7719fc1053ee3249
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2e13c2f5d1881498e4436997c17f4db2154792b77e096f936fb477157fa862
+size 1763139
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f82fa9a2692b92a0e7eb9b246a1b53eea2094b28
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10099_2026-08-19_04-48-19_496669/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5201d943b447aa595104ce944e58677d24be5a85c33b9bc804c0868cc869e63f
+size 2422520
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c85ba40f16e5ac993a51e87518a01071b57dca89
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        591,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        591,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..fb5eaae10809b8315dbfc041def170ff438707a1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        591,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        591,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8a5b858620be314df9f92e9c01c6ec4a0fa249d9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        591,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        591,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6218c754b28e967f0e81391dc922ef0cacae8c20
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        591
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        591
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..52165c6cb2e35f37073b860636b978f95eea3e0e
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..2916ef441f6c1d3d9d22ca6aca18f8711e5feed8
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10106_2026-08-19_05-01-28_529137/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c03763fd23f89b108c31392f73fe92bb2358a5c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        541,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        541,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..699e9b06435d3fe8da605769c6e8700d61008da8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        541,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        541,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..503d3132994672423ccdb08396272f73646fb2cd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        541,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        541,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..23ac35929398b96af7515dbf567ce95708d2c349
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6af75c89411382e6f893ebe8becbccd3928ee15c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        541
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        541
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ec9cfb0c7f2b6f0f1029ee197a6b964a78c454d1
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..01f1275a27f956c7b3a299f911538eb829e4353f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10123_2026-08-19_05-28-41_460450/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..99af4f7aceae167087a75be6101e1e0dba82f3ac
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6390b9a1cbece9ddf33c842b49de2be2133337cc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2b6615e3ff16fecdf6a87e132d842e55e019ef5b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        577,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..50c4f37fbc77cd87a43258a94800c9a364326b01
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ba08c4921673db885e86c87ca741d178cefa4ee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        577
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ffd9f3e8a73d7c2eef70ebbb7844565d2b9624e4
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..7058be76e9b18ef81070adc61c418a30df1b6f1d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10127_2026-08-19_05-36-32_861355/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..14eaf34159c4058a4d339e3133d2e00b77493de3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2184d7e69c8ffcb61f7ed2cea40e91ae5abe85948092134d7622690f572b12cd
+size 171752
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..616b93e27ae16f5bfd0364e28f564a041a043029
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0effda853a15221c4c0b3d4f7345c77ac01a3f5cb9675557dd351b93b08b0f01
+size 158981
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6abb4d60ad93d38478b5ff0d2d3b1f7ece76e8dc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a848150cfe2970c162de7cc68f46c837168c7974e90154f3edac9baaed52d2
+size 1524926
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c87ff1396197640a67a608f97bb3a0ba18f66d6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6f64d430d3f4a271b2353f875d83c57fefda70501fc7d5338078a3212dd31a
+size 1161814
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d64568094a7d470ba8e2f6c5059e4327559f75b2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10149_2026-08-19_06-12-38_231032/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8e6da4c7df4860367f3bc341f0e9b88a32aa5725d2b03f23bf9b57924e12f9
+size 1527987
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a41f3c3bf9bb250bee4ff4b77628a07085454a13
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c5a90d6fc0005b77257dbd401e03725fce2eee7ed1c4bacb2f44e98f76072d
+size 171741
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2b7121cb0057ca4f94f0c2ad843b8bc38295bfc1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1fea66deb168ac05f5d7788ed6a3a811d6dc2dbb3c75d4b4ebbe757eeb523b
+size 158953
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4092385b5fd57a02a0269c346358ce817d7dc9d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b66a0729156a46c17c69cef7981db2720c1927af6c0577afb1ef3033e04f261
+size 1538030
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5264ed2e3a9bbbf8954bef54271f2256066b024
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ab582c98a38ff61dd9dc9778cc87c7e50eb5dc93127505ca6efc81b1e622f9
+size 1126446
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7de645353145a7f6010689294ea6dc5ba96ee507
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10153_2026-08-19_06-17-03_291559/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3beb65067ddc9b9634be5171789390cd6ceb97bc7e97d3fde2cfb5b705dc1272
+size 1588000
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9718da096faf10b54349241187e35a1f0def8c7f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74a030277b447f3e3f93be6d1f4e74a2047f3ad3c4707e75f6aa9ca4ef69658
+size 192773
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f31d6633eb763de6649c549bc437525f9a8172f6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:528686a04576b733989581c22eab3e9e501e702dcb16de9e957d1801b7255757
+size 184069
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4ec59ca256fcc9350003bceaaa408e127c987e40
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a66b9220814058d92069fd88a9c47e1f40c2350c7979aafb6f3609b1c49fadcb
+size 105406
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a03b8b5c41b0659513a155ee7df7bb8b228fce89
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e80fd514173673751aedee5172f72a3da25793229c99e86ebc805fe92b57dc
+size 1718672
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b21350651b699c2b875f8107f707cbf4e5534b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccff8d0a7927c00522b629403616d1ec32dec01f67c98520e8a951926f2886af
+size 1296782
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..458a2bd3cb6b73185c2ee2d477c0b40d66ae393f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_10156_2026-08-19_06-23-26_996909/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd9237d86da89f50f16442a3ee6fce7f3b2a27277a0900f6d391f3613b8ff20
+size 1561622
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..33ec14f7a6e6b1f05be67165224e45ec58c3c06f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0170f21843d7b11ae260380dc72fdf70ae51ed41
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4aa67885f2107142e426d172da56ec823ff32b05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        756,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..47ecb9a3dc84f778c48a211ce94710becf4f942c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        756
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..acd8acfe86bcdbe2ca3e0902d7f22c0cad848d33
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..41691f418f6106d485d4a9a665e53bedd025b1cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110024_2026-08-19_16-13-04_260537/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..45cc91969f0ffc36d62e5127df14bb98a2d71b92
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478f58b3f6f3b3317a6d8b3d07cd7ee4809f0fe1b3177bed1676e5c0f7e88520
+size 188646
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9b6c38fdbd3c3dcdc19439767f533c1e0f1e5eed
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1ee4bd7b2bf65c1c34be7a66e35caa8e59f6d8df91e551ca7eeb7b8e11b291
+size 175551
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3cc4c54e04fc17718e29a8231f5896ce6a3e95b8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef96fed5e33af82afb0432f10d2c2c686763d517eb63b04edd0b57deae7c5d0
+size 152177
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..316864d27d02d3e6f822ddc9d1d8f9cf047febbc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40797809a3132c6a6c978422207289ebffb471040432461ee276c43dbdacc4e
+size 2049430
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a4ee5eebb00ad1e9cf832f81eb4e229ec8dbba9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc82e9d4ff1f6d0ad28d5e08c936826655da0e5b85f3e371f23916b34dd1f83
+size 1773142
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6603439c0f27dd70bf6258b3aa6dfbb8667c015d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110082_2026-08-19_17-43-24_322230/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f30345d69d05b7913c3896de88cd90a987c8b88ea0ae4e76856e61b0fa8dad8
+size 2280663
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9727a8cbfc75bfd82300c266977e09dbe344f413
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        487,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        487,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3d1809315bdd0d24aa6bc7dad7172df2c56bf54b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        487,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        487,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..43c7295c16fe7e934d661f83d45da0d8acd60a30
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        487,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        487,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5a6c2cedd15619e74be025c90f18358c7de6c8ff
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d47fc5df53007cda12068816c5dd76e1e2d7cd71
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        487
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        487
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b9f2c47ed1160355722381bbed4012a256dc8
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..9a49cd724b30378f6f5ebe0a536b40e360e3aaf9
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110087_2026-08-19_17-53-30_726621/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2cede2e6741f5754d3d27c94ed34029a53ef5e92
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        644,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        644,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c43fd4ed49c0269ff49ff91c208c07da9913e76e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        644,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        644,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..30cf80261659569122d03e37c640224eeeea227d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        644,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        644,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..919f9f65fe8bf07629bba3cb70948ba7b1e391be
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        644
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        644
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..6d6f2f53aef1aac44f3134c481fd02a00f50305e
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..a384772a7e911b1c27bb85568eae1bfbf2d1ab78
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110088_2026-08-19_17-54-26_972944/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..90b7e88aebdfa64a38fb1642a213bc1faaa2bac9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        552,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..03ecfc4e7612e1b95497908bdfabcde04c0b9ae7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        552,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4bd6019442dea0f2059e523b17f57b1273e121c6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        552,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..f49793839a7024b3c5104e92978271f6c58134ce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        552
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..cda4c3e13964ffaff2467e94c973dda21d6135d2
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed6af101faf1b79c6957cac7b640818b7ee1bd5a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_110100_2026-08-19_18-14-04_870297/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..397d4e1591279550782ac42bd10632881c88c0ba
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        673,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        673,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7016bacd41bbb28e8e910e1917b5bb2abaaf396b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        673,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        673,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..eff671b9c902427be5150ac64f09db7a29b44d80
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        673,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        673,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..410232c1328d605f6e07786c10dcc45001f0b5a1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        673
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        673
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..b6da345e6dac5d3df61889dd775b37903798199b
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..254b32fa4f0ca71145428c8394c45592625483be
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120033_2026-08-19_16-26-44_556564/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9ce1aa72218e5564bcf064aa35dbb6d35d02938f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        619,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        619,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9c04ac2adce4640cfa5f53bd5afddb18fe4e30b8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        619,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        619,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..72c92c42bfab47b193673132dcc587184b4b0cf2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        619,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        619,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a7e382d6f8c8c077bfed09cee5b862a41fe2cd22
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        619
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        619
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..c38fbadae7a446da7ebb3af3898e17c8bf38aeaa
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..48dadf5743fe0545d894c0197fa4bd507cd3049f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120061_2026-08-19_17-11-20_488278/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..da6ca377b61cd6f877b2c0c2bc519ff194d63247
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2dd280794b0d2c5d7398595e5d376a890d748a9bdaab9c2430dc2ddf752d82a
+size 167484
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fdd35f78a5bc8a8ef62dd9c172c2b57222b2d685
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952ee6aa6f3ab93a27a49989a198d56fbe3484f345518a28d7a2da2fc0bf960c
+size 159303
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89c6a71c5a701c3b7deb93ea26762cd04740440c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9061cbc58cbf26f0a9898b52e92e2eb979ffda53b609ad721ca9f146340f39e3
+size 1588687
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7cfe0b1545586687526cd5071c63e3e818c0aef
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79dfdb9b124349f43da720fbb5ea488670de0472f27778f1eac3b6cdc7238d0
+size 1423950
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3382f91bd7e641b5f5ce5fac8401af8d5137a5c0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120068_2026-08-19_17-27-59_539616/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd8a825a69d33272dc0eb0c3942c9a5d774fbf6e0900547402257cc06a1cb24
+size 1465029
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a4a1130c022dc699f5b3b387848dd633569590dd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd8376ba4d71977cfc7725baa64b383fad1f4b2803859e2d01bcd7c07a07cfe5
+size 230220
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2db60217637bebef462e07fa4dee5fe0e5cadeb0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa663364b68d84b48bfc283a6e333fe4b7fac754ba882b0d547d877f35cd476
+size 214629
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c2c2fc5d92b069e578a222c3b22986b6d5c992b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f0e51f5e6cb19024c620de2d819439825f19823ab0611777673c9e54deaa25
+size 132168
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bdd09d61b643a3c0eebd2601c8094f89d489894
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d043ab4524ce73b4f0044c2ead4facd5aca069d545479930374da0bda0fe3b
+size 1910633
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1bd59b6ad2c19bd0fcaf42ad1924d0a9a4e0454
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975fd7802a203d84f33d68ca6be4452f34456ee567dfe4ff858205dda3c54cff
+size 1900740
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b47098828e3e993539d1bca6cd57aa5cf2a1cc0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120083_2026-08-19_17-54-34_786386/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177a55e3c132c0ef53410fa627532c86b896ca2fda41f20246eb23856b2ff6c1
+size 1815715
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..33ec14f7a6e6b1f05be67165224e45ec58c3c06f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0170f21843d7b11ae260380dc72fdf70ae51ed41
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4aa67885f2107142e426d172da56ec823ff32b05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        756,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..47ecb9a3dc84f778c48a211ce94710becf4f942c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        756
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..acd8acfe86bcdbe2ca3e0902d7f22c0cad848d33
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..41691f418f6106d485d4a9a665e53bedd025b1cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120093_2026-08-19_18-08-47_744153/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b27b64e4952b0ed4aa928c49559afc39fdc084ea
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efda43816a21730dabc1c66a4d8ee594a154d19af99abe3b680403343b4b7c21
+size 168880
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e27cce6714f9dcdfe4c6bf57b69f4900b1da7c96
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f95c67e36a680974feb229a8663aae6d0e902bb568864e015f25c8ac13e9003
+size 156448
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b1a647343a64ab36740135e4c59b538461dde704
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d57b03be36c32840b49ac7fed32050c5a3850018f1ce01825e55e6d2b956ac
+size 101181
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8edcc8c711b32ebab31b93ccc5575fee3eea6559
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271ddb98bf6b0afcac9161eb16a1e4d4efc550100f2cb17fa394994f2427e4e2
+size 1479753
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..016f3a530a9ed3db19c08156cd5cae2af50b97df
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b835de2220100c99a5624e565593a9ee2bf9532400869272c0d757b6710687f8
+size 1138966
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..795eeb143a8df1f2bafb03b817c7a9eacf4bb506
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120096_2026-08-19_18-14-02_411098/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6982b5d44fcd421f4a9d1fa34bd5239f9eb4a335054d7e62c4bdf8fde10e8d64
+size 1471613
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..05c9b1d22512da7415c8ba017d04d087d655da54
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        542,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7385160087d27863a5936820d426c8fd7e9446fd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        542,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6dfa82f36fe350eaa100012b2e1fb656510c4920
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        542,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9b9bf9f6932fd6099f59f19b066551a5da327d57
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8c950f447d8c5ac110875a6ab0c097580262779c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        542
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..14657e055d17d8e50748c23501dd860d1cf695ad
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..191903460cf91e200004e5bac1d9778748bcfe6c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120106_2026-08-19_18-33-01_951600/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..36ef44cccced2e6c37572f0aa68ef65ea7fbbcb5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c36753a9b92c391d46f0fd72e3d91eaf806334fb2853026002b90c1f9c04090
+size 241057
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5a6b328e496f0211d7aa356ab426cce78b74c2b6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5631b63b3ada0b6def147724c31fcff6c25385fb48e0902468a16c5aff3645c8
+size 224676
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d598c2f59beef5aa26ba1a3a7f888d0c314244e7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb1d71f5aff94606815e7159bd5e07e871c4254dc0d627767cbb9db06503ba25
+size 140034
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afb947dc3f576af1307989d2ec4fb125186c4cda
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:862bd0f4b3068fdc8a19d9ba45ec1fa7c3706d4fcebc2d33877302a9b2bd8518
+size 2373034
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dd1cbda89809ede68dd4a914eee23539a48abc5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bc7e08cb6585e7841d26f0e1b7c343b2947d4f757d441817344eca93115b0fe
+size 1767800
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f503d6fc84fd4be9600271482f2451cf8a2d895
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120109_2026-08-19_18-43-35_014104/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d506c29f8d23d09e2c16a1111eb6496c38505292e69ba09045d42628ad64b5e
+size 2251192
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0f87ad386f473c03da18689a7b769a442d0c6b9f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2b49a5f884924f7258832f40500f94b67f8889660728fd4b22c3f7eb2562040
+size 222114
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..387f8944f371c92f4d08d017a7da36dc3c75b316
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779503af1db0e0511ee25113ed8c3ed59c4aa41ee89707f457f8eb7ea0d45a82
+size 207629
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..89ff4ac02f21789a529e352159ac788183990595
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20fb1399a7948e0b5b98cff7be6e9ce422e4aeee3f2257e77453d19fb9cfc3f9
+size 127835
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06663d2cac6cd888b5715b8a74fa3f1e4962c3b9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da231eb83285dd2edbf13b0320d3bb32b98110c12302296453f91590930b01f7
+size 2050131
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9f370efc66c54135482f70993f2bba5158b27c9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfdc83e4a226852efbf4331346dfa85c3bfc5b0e343d5508af5346dbdbcd2c11
+size 1649745
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03092cb4f915b3da3eba577a8d7c9a8a628e8317
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_120130_2026-08-19_19-20-00_613057/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d4dc926a8ec45fda807886a5a83b7a6544980a97f3f5a2475093dd0bdb479e
+size 1954430
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2c1d0eb93e2fc60e8328b0bdbbabef2b3e938277
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        494,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..499b50e4eed80b1493e32dd81ad3722207c16d30
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        494,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..16cc45d9412e5eeaec3dfc1d4cd425909667dfe9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        494,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3da4a1b37ef072cd845486de3e4b908bfb704763
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0993f424824b2ce98486ad9e6ed7e17cec555fd9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        494
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..01e4e9a115b644c5fb7b707995ad1562bbf14eb1
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..926abc829f49420af303e6c2582b372d3818291a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130005_2026-08-19_15-40-48_725774/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2c1d0eb93e2fc60e8328b0bdbbabef2b3e938277
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        494,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..499b50e4eed80b1493e32dd81ad3722207c16d30
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        494,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..16cc45d9412e5eeaec3dfc1d4cd425909667dfe9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        494,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bc8e51edd8cc084dacc78881ecad3d201f6113db
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0993f424824b2ce98486ad9e6ed7e17cec555fd9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        494
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        494
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..01e4e9a115b644c5fb7b707995ad1562bbf14eb1
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..926abc829f49420af303e6c2582b372d3818291a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130052_2026-08-19_17-15-31_406772/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..56fe8e920ae69dfef8491418fbce3d2de4e26e9b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        503,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        503,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..aa0348eb937f730e39b26ad0211d3ad794cb1ec9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        503,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        503,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a910ee4724966e89df9987c0e19595cd6a7e9131
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        503,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        503,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4b75a1dbdf8df2c14b88160e2fae8b831ba8389e
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..76092e21edd8f7b604371db21b57f90cd11da41b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        503
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        503
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..d2c67efe435eba94d5a00ddec41ca95552ae6a11
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..b84fe4ba95a1dc209d6bae6246e322914aeee397
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130057_2026-08-19_17-24-35_417260/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..91c66fc73f5d8a8d491d8add7da4697b82c3afc6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afb9373f253c2dd7c0af2d4717a5b54e400898619d49844b9758af85d910204
+size 157703
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f804a2160284ac337abbc0a40469566f76f2b616
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a643bbd635b6eb6e700c0a8a47880ca0f1fceb2d7c2335155a8cea691f7b54e
+size 150604
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72aba748714ac105c7e04bbef3b7ea3d7a1e2815
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bb9a789835d3751c9f22bdb551fd602f87f55559bbe2b0ae1f2cdc72daa56f
+size 1394761
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0181a3624eb271a7d303aa0a50f4b75efb0a4cd0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1fe90111634bf296a9e8bdb84573b85ca403ac3a8b255a24419a29894ef14d2
+size 1135261
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c14748d88ecedfa044d3ca8098c9795f83ded02d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130090_2026-08-19_18-25-12_643199/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bdf7a1fce630bd1479b61cab67b48cba5b22315e03fbef63631a0e6d529c8e
+size 1360431
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c10ba94c4bd909bbe67a91a0d136afe4522cd261
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d055c34357b491dfbea934cd7983a04a15204d8f367e8c30d4f183427d37e92a
+size 171330
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc2d1ed08d24cc784818f950fdc451eaf7b149
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b1193dadecdc10d017d553d91d5337d6f9f3200ed466fb8bc0df34faf5e051
+size 163280
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a35d4f42e48927975b861fe920cdb5af5083b3d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f38a7b3c9d87448b70d6017a08ac419d85ba0300d119f8964a95ee3f77869e
+size 1627088
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..137f3a229df6aed89199b0d4b26735a63e64953d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:846f27cc084849ebb63fa281c13121c3869c44cdcd66150b4bbb783187daba35
+size 1300927
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9a97d33ec908fc0da0abc9e95a554908b242b35
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130097_2026-08-19_18-41-54_163511/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d7146fc0daa7d89394282345212b9d78ea5ff5fa19219b070e03fd4f2e74ab
+size 1690984
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..65464fc85837298a85df97bdce7eb05d01a70a19
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        568,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        568,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..916ced680de31557edfba6ed6a19f35dd807ca93
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        568,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        568,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..524dc0c536bda3840cd1cf9c9c0dcdae69de8448
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        568,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        568,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5b1802fbb9a186dd70f3dd058245f8594db811c4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        568
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        568
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..cbb142ab1b696dd7c94c2116eb77c8a473a7852f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..8d1849b44ff58ab8523efbc5e4ff3caea3cbc020
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130098_2026-08-19_18-42-26_285344/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c70d20650a034d4f5d7b78d5d44b98e96247bdb8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        557,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ce4655fe6b7d88532e860dd10b415199b4179cee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        557,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cd58f40f5e47faf0d5084066d38a97b2c35406b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        557,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5ad5133b3aeb9ba6f6dc509673858d7c20f5eb48
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c5fc27809611cec5e10935906b7bb24eb8cac051
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        557
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab9b644dc2de2c79a51efe34799e1382062ddbdc
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab83274a52b9b9ca35181042aaea3067d0db40cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130119_2026-08-19_19-15-29_074319/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3c2d63dbcfb7d7d85118f0e782538e52a15e0cd6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        538,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        538,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ae9f503d15a3cf6473489bbd8084ebf682f589ef
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        538,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        538,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cf746741c2d4048d668dcc85e2429eabd93ea99c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        538,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        538,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..dc047f12c61fbccff4324ba5699010d84824ebc3
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..bf18f8528aa40b005d61d36db4327575fec2d237
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        538
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        538
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..42c3dab46a3eb9bc5c74272ed29511a78e42107c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..13a7f17232b2be15cbe04f9b58cc4f00561a82fd
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130133_2026-08-19_19-44-22_831743/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..15125ca1d3d3793cae5db0f235af0aac75fb3a90
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb7b70e3ad8eabed573d9c56992d2ae386fd31d86b4e758f833d39e3ac49cd9c
+size 128927
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..51a28dc5a6b8f2aa7d72c67590db6e430b3cc0e0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2a4577c99ea4ea26b3d0be6602db257cf05158dc36786a79c4c86ccfb00d6d
+size 133963
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a44935e9221f23a60829aa3f7ccd18591c2e5ce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b717570c4241be0fa5cf0a881076ec07a693cf726c3ca1cb3bede2edc6b0bdfb
+size 1426558
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f960766ffc368a88373baa8105e9e04187c0085
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff406f70bc973bcd0b098143338632a273fdd8b40581c73e15286378c1de0984
+size 1154351
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..174b71aeabbfbde6265821cac9f4cead871fed5a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_130134_2026-08-19_19-45-38_919855/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b69e360c3c6d1d61332fed2849e42848f028c79df5f811ed08ddb0fc87e14a
+size 1425824
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..715b18bfb35dada3597f601bba6f539e30164025
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1e9fb63f07feca22dd1fa05135750e271fc0b812a24950fa4190ae337adf3c
+size 124817
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bcf8795f82e6a84ba0e36da29c896cbc3cd095f2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538cbbb56aeb1597113e76dac1d33581af9d481b3d60367bf677ecca27488383
+size 117983
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..553bdab7c5fdccb945f938838453aeaff8216d63
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5273240c363effff799e9c9fb4ce7ce1051d8c7fa63b2f446a7fe2ca9dbcca
+size 1440886
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe715326ed9421d76bbd04d5f2a8cdb00b001e7a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de70dc120faa764422c6130004a6263ee1ed8e50c4d462f2b5e2cfe8c6cfcd56
+size 1405751
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dea0de80671952647e06d984de037c5a5935f9d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140006_2026-08-19_15-44-23_965172/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76516a3bf5cdf73691d7840dd1ad35ff0cc6a019ec24595487c4dc993a44edbf
+size 1362713
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..21486aad93219893fc8e53e5b5bedd4758d77ca7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd848ca8e0199b4417e15b4ef39324b648b9bcc1ecec3ed049298532a0fcc31
+size 165771
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2abb88f13eaf450ca354abc1f8ccc4c9087584b2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a27aaa663baa63fafef54546f78b8552e033148d96621cdddd7028b9c4fed17
+size 155738
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4b3eab14049c970ff43e6a55b3001019c40bebd8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431d35e2e1271854b11906b7197fef0c220163603a450c34c0b13000f0f02085
+size 115886
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..796966be5492dad530a1465d1805a9351251676a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27dbe6d80774b84bffe4b374c210e831eb5c0a86d75225cbb91d0143ee484ded
+size 1603241
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83328d90eb48140df369b96c74d4a8274cadf40e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de923cedf855115d28b4d204f2b1b03ff78d583b08af2dccf6de34f098515ac8
+size 1494857
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db599a7f52ae13b2a6e20030f32ff14d7bdfb8d2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140038_2026-08-19_16-38-54_444295/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9bac517510f84c45cc78574ccbf998c3ac8f173b005379df9e23979aadbfc1
+size 1552618
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ba93ad5473d2fdb2c4d26cbf19d06dec7db14966
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        524,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..95b9c8f76f3361dbed7f2c9316f6e0ad4bb7297f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        524,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6565b1bef260e523c911f2446b9a2d0b2d817e06
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        524,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..78a05920d9029f4a82651618510091d5ed808cb6
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..05cfd29f0f595f890b3efc91e1143c65e69d8826
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        524
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        524
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..0d3ec7046d47901e52ad17db7fe4086a0a5bfb2a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..dc4d0a6c28ea48df7ef12b09b56831f3ec48a2df
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140052_2026-08-19_17-00-31_854736/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6c862e05ac351e3deecca4cba4b311acd3bcca35
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        719,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        719,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..84f430d28b59f10c1097576493c9ac19345c8120
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        719,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        719,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b830328fd221d877217c2e78cccb07d2ba1a9766
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        719,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        719,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..044c0709f50f60058a0fce03d6b6e14cc696a2cd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        719
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        719
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..2ed2f1cdc6cd8365d0451cec3f8ccce379fd6b1f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..7eb8719b160b4f59bd4636a208a5e9dd607b2c5c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140056_2026-08-19_17-08-38_316493/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d3c0a10b0cfa3ca3c24e824257bea8d41c7ccd87
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e526216f790bd410845c4718245cff313bc879073527bc1285020acba51f87b1
+size 155035
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c37d477eb4ea62290137f04f1a48e613db489bbd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9278260287bacf4686cef3e09081fa02c99ee970e73bcec08a46c5f723801e95
+size 148515
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ddcf48c050722ed875216cf0e04bc0db61bbb1b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490424a849b37b3d8323b72299c4fed852bb12b0f9aaf8df985f6162db111e2b
+size 1370622
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a501e7467757c95a807cd3cfa8efa232cf79804
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e217f86593ae234b43f138ffcbda491330fdcf002244a8a605edd8eadd77234d
+size 1141986
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a18a0a048502432142a8dda390e67de270c3855
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140097_2026-08-19_18-21-21_891224/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6fe63ee2e517a29f5d001679293ebc160df3d14809cdd99d0699ca1a8343ba
+size 1267419
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5caa65677e3ada052f397a92fcc202ec0c81ec51
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        536,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        536,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b182c456b34ed223518d3e186b29e97f22e62034
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        536,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        536,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..fe37245b5536f5c470c15353443df20b8a912d24
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        536,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        536,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..041d1e99c21c06a4f54c8a7884a2db96b3f5a138
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        536
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        536
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..7901dcbee771e13894193d15cfb8bae863be5240
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..873faacd821b52c74c83232ce8f02b655e2322a2
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140100_2026-08-19_18-28-23_516707/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..05c9b1d22512da7415c8ba017d04d087d655da54
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        542,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7385160087d27863a5936820d426c8fd7e9446fd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        542,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6dfa82f36fe350eaa100012b2e1fb656510c4920
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        542,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6f8670453111afad11bdaea3f9413ac8d89e961b
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8c950f447d8c5ac110875a6ab0c097580262779c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        542
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        542
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..14657e055d17d8e50748c23501dd860d1cf695ad
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..191903460cf91e200004e5bac1d9778748bcfe6c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140101_2026-08-19_18-28-53_912006/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..54f0375fd2cd24e46782399806692a3848184f8b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84921e61b55b46f34ca8ddee1009ff96a11955762b321ba3bc624a6ce278c079
+size 166787
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9dc42520155718933c9610efef2cbe043ec114a9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b22ddccc903fd84f757243c69139c098f482676ca575d3c4d797704b051e80
+size 156428
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..834d07579335685adff20852b328dda23e702332
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df53989cec79329de3099d8a93a0a94feeefb297a229fbfcbca37eaf5f94d6eb
+size 119102
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33eace57e5083b7e5aedf148fa71e9d523653926
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f15a64646137f4f9aae2dc5f52371da517c83a4af6572caefc58bf0ab89f2f9
+size 1573096
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87a35a597a1be09880a0c849b7c26d2abe9e673e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8e99b4801d77e0cff299d381639e735fea64d6770ab6943bcea4afe9c3d1e1
+size 1471650
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2eec83e4bdd2cc1021e763e613ef8f8f950c9df9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140104_2026-08-19_18-34-42_837154/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:491902d188fa21e49c441ae75c7edd86804e9b7154e6c25c204027ff4fd1c5dd
+size 1588482
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..12d57b5b4c28e6d37bd54d616390fa32fd4a3733
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        493,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        493,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8cfa0b4a48e9d5a98d1f26a9dd91b4e336cc2805
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        493,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        493,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..327e9879705d1b261ebff0218a305598ce7ea171
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        493,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        493,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1e15ec18a14ee90e73d0983c9296c1dce7fdb0c1
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..707e7e6f8c7585ed626b844dfd7b78b56c55d756
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        493
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        493
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..2573de3ae4aca680f9486adf398739acb76c026f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..4cafb879c96c3d2d1419850995c29a3ea5e2363c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_140105_2026-08-19_18-35-15_421121/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3db0263365fe60590c10011245a09101568c38b7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23d78fd600a1512a0209ff39274562829526604fcaeb30c236f99402042fdff
+size 123977
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9d74adbedb051b8110bf3ccf6f46cd1bfccb5f91
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cb0e79762d7ffd023c6d26b76ff64fc86ae1b16c875b18fc8d075332987e87a
+size 117168
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2c95bdb14a0f6b42a2c7c9c162b89c20b588e4b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9433fca240293bf8347b701b1cd2f454ed995cef9bde006406b8fd310e09a067
+size 1352918
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c63b08fb7badbb7ac5fd7955d38ddfceb7eb747
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e12231a099bdfd6b4699ec4cb4d76294733b7b10313b13eee373bf84ab6ac8d3
+size 1271146
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aba9d12fe8569ae221075369b2f9d096d2023c44
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150020_2026-08-19_16-03-13_888305/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e367a2b506b90244ddcd1d728ba4095a4cedbd4c7de08f69cb614bd230950e12
+size 1268701
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e53c4a267672db9ba6fb6fcee1388434d5da8268
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ac7e720ae744e6edc703f50e0125a9b707d4b400e90b3ba3d98db2eb6ceb87
+size 170154
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c2c54a6d299d1dab33525c47f9cde2f612f8f15b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64068f8724321a0d9694189b040dadd9901e26a79464af3d647884065b680802
+size 159491
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d86f00067e6dd0f28ec1b0c082eb3a087079e4ad
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b247b4bfaba0f652a648f699d664d02ed0b91a67f4f0d2ff487a59e907882e63
+size 119202
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..165b236e651898b3006a3bef83b66c85701b7c06
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad465534d23eeb77567b917c3b0ba6bd5fe5fd41b6891d0b2d781b2310ecee8
+size 1559360
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f6bff3becda8cb0a36ae5a6f692082085e96367
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb8d9a3b430d18eb5d0c33cc906d42d3d705f4721a441471714b9249f8d9859
+size 1323393
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5da1a83c7109bc13c6cfe8b17b55676fae9ea4f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150102_2026-08-19_18-27-09_349495/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22969030c665efc36a3519703bc66d851913c4254829d083e8f61ac2045053d
+size 1876678
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac8a1fc7d90a8bd68ba5248cf0ed51eceedce2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6010488b003139d68c42297647f881c0b0e8774416739e38315b2154a0bc5b61
+size 185268
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..de6238c7bbc608bcea4c769d0d9b776dcfc3457c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b5ddbe04ae4cdabb07b4b9cc422ee0070ffce41dd69e30cdecdd0c425a35a8
+size 155247
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dafff12001b10c16c1bc2f04fea53fcd9cbc7ffb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ea40c417c49304267ead79c4ddd16b094d8f4b5bc1f6d92b1d37cfd699037c
+size 1590951
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e571dde7f4165d6c272dee16450bc997a622b2da
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b06640f975968858feae8833296000dde672849f8e1373eb2671aef0cf099aa
+size 1501442
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3a96cdf8b2f601602e2a15e9c7dec86a4f5b951
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_150107_2026-08-19_18-36-37_310225/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea85149d238c8d436e821db7dd11024e1cfac15eba140b42f5bbd6900b047afe
+size 1541661
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..72bc997777c28e7e8ede9c0b2d9d91c604d0e138
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eba8acc0835d568dc3c2e9e80d7a0659cd7ae6452ba86b08b6b717e60c0d9df
+size 164564
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..131e5c5143808bc14fe28f5f36e2641c7b65cd9b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d57e1cf6e073fed72c45e5fad08deec42da13db3178246668b6ad56ca8bc465
+size 156792
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bebbb122e8d45b896ad9b6242a92141924b77d0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286c0abff53491516cdd695c74f2631f8913906c360061f3496d323fbca23c75
+size 1557994
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3af812557218e85d0671fb691f758bfe3f02643
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e6f85fce7b097f75f47a4421dfc13f12e62ec69a1e841e37fe915474bc4521
+size 1340093
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79add08bb59ce4066ccc0e46e7fab04a67fb1dce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160001_2026-08-19_15-31-53_349058/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b82fb21d83f2d3a77d37c24d3f4619d6b6c892d44e97e28ce35c8e4a4bb5d7b
+size 1526251
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4d970ecaa3cc3c2e66e52140b90fcba121200e98
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc939c92d93a02b693d4c162d34714404a949b2735a763ad7d0bd955943386c6
+size 129392
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6c55d5be5b60fe3508f562c5a2c8dfc1e7149489
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6291dfd7c708d97554dc7b629a1ed42fa85a78837d7d4109a0db871b3fb1252
+size 122360
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2bf4986172aa9874b5b6878ebb6028f676388b8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ab3508a9a474393cc96bf9116cbe4f8288fe856cbb07b7770d57d9436c0e6be
+size 1500666
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d797d61d92a6e752da22b5fdbbcb686c28c879e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d81d5d27e4f322b08d3d78744b3ebc73d5d77817d33af6277e4d371d048138
+size 1144283
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38e886ecf54b343e5b5e9a0cacc0bcfc730ab1e4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160012_2026-08-19_15-43-53_218359/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6250bb8a2b3069ce64618ef37e0b78859c55dfd154eaae8d8f7d0e5e98dcffb
+size 1392704
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ccce53656f4de6138a4ea22179bd36b39bab9e1a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c485308edf4a2ee81459d7eaff5b2f2fb27ceb8cce0acd08fb665fe30de995d
+size 150477
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3371b5e86754159bbbf60739162f1adf6ea496db
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553242376c429f827040a792672ed1e7a8744393a6942242c2a45c286c6c659c
+size 138721
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6c80cfbaa28a024ff72e65e83016c2a383105e84
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13032faea936348e4cfd37f79a3f235fb9526af28ed80edd230eb2a4101c127a
+size 114978
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d94745387ab866af2211544d08582cbfcf0207f6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae2fe6db64e6642c8ee6ad094beb28a29458581c7ab65efdce3adc82fef3760
+size 1548777
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ed7b857893cdd352e802d0202113fa46f3fed31
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5201001e3ebe3d32f7c23f6a87bbd61958259e48f97e76fae99952e0d4f9744
+size 1360305
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eca78b3a66757204908b4db2f15bf8a445e393c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160044_2026-08-19_16-36-47_602605/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06461f131edc8fde5c0144478049e565b8a5fcad242b97a392fbcc562f075e9e
+size 1549078
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..99af4f7aceae167087a75be6101e1e0dba82f3ac
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6390b9a1cbece9ddf33c842b49de2be2133337cc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2b6615e3ff16fecdf6a87e132d842e55e019ef5b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        577,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..151093343136252fef743a0212177a499083fb26
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ba08c4921673db885e86c87ca741d178cefa4ee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        577
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ffd9f3e8a73d7c2eef70ebbb7844565d2b9624e4
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..7058be76e9b18ef81070adc61c418a30df1b6f1d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160070_2026-08-19_17-26-53_126932/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ed38c737fa2c18d3b41395f59c52282c9fd153bc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        534,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        534,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..17eb99b223254b1c5e410822e2f9cfd34ba2658f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        534,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        534,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c94870ba3b5fb95ffa9e56dcfac2375c1e0476e0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        534,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        534,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..709527dcc16bfc60187852b670a2d0995d2bd66b
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..de290d210c2dd974a2c5584d210b732cd81d279d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        534
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        534
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..1924700abfdffee951577ac870c308c112ca298d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..055d9019abf53b44fa75492a1b85dcf8996a1f3a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160112_2026-08-19_18-34-42_786601/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e41ddc4e36088310ecd20331cea85573a7425ade
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab556bf0cc379dc8059e86b663d8c168a7593b9629e17ef5d8d36f3b1229275
+size 172093
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..10f7d26e054b3465815c22e00454cfb441d34d4b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d89903512f2e7c6117e63ba2c088b3cfcf85eafd99fa4ff71734d3c02ce301
+size 151135
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88782120c4b36943f836550c009fb399861dc571
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160120_2026-08-19_18-49-19_786910/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b14c2d13f75d53f54443ed23bcc0b66fb0a7f9fe2f0005dfb95f41cadb039990
+size 1705686
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9933025e2f24c8f3b70cf9b89927077bddf796c5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2df6eed6ebd38cabf38023ea566d45eef32b8817bd1ada29dac4136e7e06fb
+size 157923
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f517400c78a464e69643c9d76d9d870956de985
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c8ed43de2dd99acb5a2d45d83a48557178c39f4bd98f7754bfb0f5e60c2bb5
+size 150109
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4a4aadf7f4b31f5fc5f9111df7469d448b0ce68b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59cf7faf5bd63701ad79e19e92779ecc8ef6801571999da43d6bfe3ab0b92ffe
+size 105730
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15b1dd14fcca3ca74c81960c863ee473c868e728
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8d4ef08f6a90db2b9e8298741ebfcc59f833e5402c8fdd26352d6ca5505db2
+size 1700158
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a082167cf6c5a3f56c5e5cc697ecf7a37f4855cd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d7e16e728287d8d28fbfd57b73a7f572970677f4a74b66b12816750428857a
+size 1401298
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf8846b84da05a3955fd986915b03669bab74318
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160137_2026-08-19_19-10-43_434669/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb012e38ecd5a7be977808dd6ad6b0868473e98695706d4e13857ec35fa38df9
+size 1850065
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..78772c9b38aa6edd5c7ca5b17af4615e200fd936
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df11929387c182c049717a266a2d33d9507b2cb21624a33d9738684e788c2faf
+size 141742
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f7a19da2e029d403a7efbcbbc49e043a9bb21883
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b96c06274faaeea4229e701fbd9eb8d162c9ca35b2c6a72c8fbfa246271b40
+size 133288
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1ffb93a475e05ecf3b0facf5ee6678681947285
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c882e7061fcd77adc8dca7adfd700beede8b41f10e2d9f1f664b650052eb77
+size 1300038
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74878cd93e04c92a079faf74e3c34709eee45247
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6eeec9cf22c0a2e41d8b8a506b4ff5a8b528ac60d81ff7e39d4a3b63cced1d5
+size 1086470
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05a04ccd99ab9bc0b32b112cb2e7501281535c9e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_160139_2026-08-19_19-15-58_441152/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e63b0a1a837b2adb3bb26f1d1a003d918e2f7e2cbdea452da271a64eb69b386
+size 1558391
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4461cf351bb82e28da8f7652f4d6ed9c39d647e0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb80d58cd3ee7f45385a0ad35a9153e45a8e72f15a466148a21d7c03f74a91a
+size 206787
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ec5406c8e94d7002adde1401f8b45c049a042117
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23c6ea503a654121943eb75b9b6c9576c5d59dff6d9e2af1f0b878481ad137b
+size 136150
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1fe90fc2df196ab05a5f1ec511d6c117b252c30
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9848205ee72ec1558e7ea9a7973d3824ec8cd3d3aa157486f840fa741300c661
+size 1879742
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01a6cfda851623fb8ac76413b011862d7d2cf9ec
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187eef0810705f3091252c052f564e2f43e4b9d1bcc7dd67a59eb600e2fe7550
+size 1615424
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b50ad7c8262c8dd4528971bfc9554e942da76df
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20017_2026-08-19_01-44-22_463673/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df68b055942b2ab6b240dc63f8b4f5cd2657dfd957b054d1a235acbf71174d3c
+size 1725521
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7cc1060903e1b5a929f1dfcdb7d0dc862f656758
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098f73ab2fbefe79489dbd1c00de7246bc166baefd82e0ef0058cb930fc19fb7
+size 185287
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5fa3e16c3ad054eef9d3d332721b1908ef5938ff
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09988a06cee138aa124c2872553933cbf2ec9b07ac96ca1f1665cafedde27e69
+size 154877
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47f02964e1ac4d6ba518bf80f211ae3672fca212
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f5a806cc53a6f5d11cdc03624b010c50955a706c538eb1f606bfaca3308aa9
+size 1586041
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e8a7f1242a1a88ba461a698468ebb29c3738e79
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cff64de5c6cf909fdd494309bee357e6354f83f2f1885ec8301b6457ba00ba4
+size 1531464
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ebdea14b5584b204d2764cb60b01f73947a43323
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20027_2026-08-19_02-14-46_556155/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f77cb337b5c5895e1a51a10e17639c1c4639ab9115f88a7b7be16f1c5c410c88
+size 1526065
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7ba1e2f02d2d953fb35a0d8c7b85ccea973832c5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        656,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        656,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ea4d9668018a7ff1bcbc48110283b57d72e76f6c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        656,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        656,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..322b487babc4be05bbe5f4c5c6ef2224289b60a5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        656,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        656,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8a1dfde60e1eaa0929c8fe372f1e461adbd62194
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        656
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        656
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..e340c58188cc2b94f533ec5e66860612e7baf4bd
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f3c839256c210a24191127441c00d5b488eae02
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20030_2026-08-19_02-19-14_727927/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..dae081983238693b06ba0af124deb15baa5c0200
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a697840247497fe98e66bdb7548e3ed627b384dec272974fe886c5724390c7a7
+size 202900
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c232751bf8abec0c824190cf65891194be5dc720
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b4d5c712cc549dfe821a10d015b7bde1b9d598c6b3ef59aa0475da948c80ec
+size 188852
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f85f7a37f0fd562ee233ac32a274ee5722a998ab
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15d2cbde19dafb8d8bed4e1d0682d7bcc55ee0b3252ec3cea11e9312189bd776
+size 134141
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3107920a9f4d5c0f814a49645277d8fff8ccd3f6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2023eb3f2aaa8cbdc0de6255eeff2c4211f83ccc8399990eec37aaaab8fa57
+size 1975517
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a704877a9ccb4374b2e0945df9e3305bb78967
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac91a09bd1793305d4ab602fad60fa628d992b6b4a263823b240c8412e5d3cc
+size 1700847
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a1a32c9375f05e2da613c495d37978527af2731
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20034_2026-08-19_02-27-05_291602/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917ca2892ea3f4b44cffe3c9cf8c86823d455590ed502abf73358dd62cc9c3e7
+size 2021572
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9f8068fb6b4b47563e4066e03630c8c15d1bbb14
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        478,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        478,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..884bf4f4a75412dcd288e876fcb9d954e84bd2c6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        478,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        478,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e7019c2629ce3f5ff872872658b9650184a5b946
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        478,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        478,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ad5f929ed4c566c07ce8eb2089e5dbedda8b3a37
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..12ed413453d4b90017e1e26f01d55267a1c6da84
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        478
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        478
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..aada9d2704a68252c3ecee64b170a05239afba1a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..4edf5308312061b17e02b94436b8b7e0cfaf88c1
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20075_2026-08-19_03-55-38_686245/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ab39816585d30852ded7e55bd6d6dc6caa9174e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        599,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..223a2b07c55caaf8e60ee7b9b20da2360f4fedc1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        599,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7aa9841621427ccbbd696fac379e1fb80cbc246b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        599,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..934acdf0155e504b2053bebe89e9b2084d1e89a8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        599
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..9e3a0c42b8470948d9ef33d7c8f4b893cc76a2d0
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..a65aa55842c0b682726e86e9957c6f4c63a33539
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20092_2026-08-19_04-23-06_673095/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6c3c369eb62c468bbe42fcfd856e329039c132cf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8064c175eb3e0a0109a435917f9bafeb98670429f2e659394e3329e7b0c04c
+size 218362
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..350f7fa0e1f45f684df5133c0483096d8150d7a1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadad5f477c07f292ab77567a256660b27356c2ccca646090f563226acd4912a
+size 206139
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4afc355ea1272e00fcc20cef5b3ada3f3cc258e0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a34334ebc155c86577b69a951216c94e224517ce8554162a37194683fc213e
+size 119687
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a714f77b147c4689841ee81766c25636db854d78
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04fbcb198508c328336c4d9c302ec88e7176c8f0661db9811b8cc616e716351
+size 1715540
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7953bbc33fd488a43b8dea994930cc67d44bca05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3485b045a02db21b8bc4998ad6543f528650f80f1778219fa3b7d9da1ea6d8f
+size 1340927
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb09a3ff2d4328619e5b26bfc91bf306a0798e3c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20099_2026-08-19_04-33-19_916119/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5608df495d0cffe3e7e33c22112f25596b056d85d5af6d0af949a3ad324071dd
+size 1705143
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..59a92b6947e2440346b955c416ed51f71ba66e2d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32297ed0b611c60597b83a766f240baea32f2ecd819eb4ae64f87902984ff51e
+size 181954
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..10b304c6ec23607c698a65803048467fff1671c9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73b4065090ad7a4f38e9a5674ff477e3b438948a33699f73aec755c5932e107
+size 173597
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..09a45647abdd88d43fe30b4194ad578523b45a22
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f651045bb1c62d919a089838b84e6957387068da88624cd453568838d1d7fc56
+size 103754
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d34a376b61dc51846f46b87c6ec6df8c1d365988
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ef1381d1e8f35b629669a937bea351fddb22f7bc221c39be3f58fad16d6c11
+size 1837623
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70586c7e30b914ec0ed02585067292e32f682420
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab7b336a647866b38cf64da16a7eae6243ac91d1dd79e27f06978cdd1cbdd42
+size 1515473
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a60f69a0c58896946a3d225bd2531eb87988157f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20101_2026-08-19_04-34-49_360463/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e218f3f73b21f1934f972929196ff686c35ce3359fa03b0b8b65590ebdf96d88
+size 1654080
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..cd2c4eaed43f718a01a9b2ec2e115fb57cc74d16
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d724bed302aa88e0eac003f43333cd5567c43ad0b010119c1b70ec95b15793c
+size 168045
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7b2132d39cffe797cb00f4b769c071d7d4822aaf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df6d241f87ec6c34d754cf9cfdcb1bd0353ba97471bdb1b4e20e7fbf2aeda60
+size 160174
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..01b03535a9caaa694c50ee47a64bf812ba49d733
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8881758ef907c7692782f6e2974ce8947baf3a0cbdab888b1e8ace928691f9
+size 101435
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..534b6de645da80d0572663f218d0f231a33da58b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135de7eaf6061b12b9bd2f867944483aaa105ee784490890d33949557b729fc4
+size 1647673
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fb3ba447cdea1ce96b0f65ced5da9c5e5ad06e3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe204e1116c2f00f67ef9d850d2b84f9945fa6d2b0d4e11f513fe090e9bc1481
+size 1336963
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5803076daf9148a3f02d0e903ab9e012c07950b2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20109_2026-08-19_04-46-20_989708/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda13f7a711134579859e9f83a7b25c1e42b49e64463d7dbb91c86eba7207dfb
+size 1617189
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..257ff441f6b150a04fce8f766aa306f37c5adca6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        955,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        955,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..04ec85d1e5ee9d8ad7f013cbe31a4b3f3f7b7fdc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        955,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        955,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3ca45294aa8da0dfe477db6871bc62f21ff261f9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        955,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        955,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..648d16637b0638386be046e92883b39f7ef8f0a3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        955
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        955
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..2c54c0fdbaab0406943824da0ece2e7438d6c046
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..a63ade8bbeb5d58e0f80cddbfedb24c1b109ce7c
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20110_2026-08-19_04-48-59_964291/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1a7132a45904545fb5b3751bc6dc5799857deb70
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        878,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        878,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a8d99ff8c2d22a475aede34a8aec4e57a45ef87f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        878,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        878,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0d51c03af38e1633477496fb41288691fc6ce0fc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        878,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        878,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8660cf99e6de7e5ff5d453ea8f44e85ed9ee3033
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        878
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        878
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..881e6ec07a092d0aba4cb5e71286efdff0f71f76
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..71d43e51f32621461bcf92cd616195810325da68
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20116_2026-08-19_04-59-31_926310/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..997587a514ec566dd032966ceb7e55ef85e23a99
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae1f973fc17c20d0d97dc3fab07a9daafde7aa04bb0d0c4ca2c68799db2181c
+size 178804
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0dd389ed3f4eb54c81a25c9beaad0e9e9eef6afa
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538dbed38ab04ecdcea731c1c57e669855aee199147a11738207b861dce3d1ad
+size 160482
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af8c513f3df255403487d1c4181d2b3819312b26
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c51a9b05f712aed5a99a73dfdc352afa1343e2da18f8e165652aa4351c31b7
+size 1656126
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d48061267a999e9088c52077e34997e87922abb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042a29be1c47ad88d979466e0aa6c4e28919fea5e706b43d97d4001061307d37
+size 1433068
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..154c71d19f6a7e68419a9ff6d82fdc2d036fd0f0
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20117_2026-08-19_05-00-13_142378/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc077871332803433865627f03de977e3520a10aeb3c913c5f987bc4834f324e
+size 1805185
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..735a2d858ef2441e405dfb638d9b765b28376a74
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        720,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        720,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ca322ddac9ad1dd90d993b2f3c07278baf78892
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        720,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        720,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1c211696f7cd3415af1c8f9529f2874b547a394d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        720,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        720,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..33ca41434d86df1672c995a808edae3b48178d0b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        720
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        720
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..20e6aa6c3bab5d7fd79e68f282f635c6f37e2686
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..a2491e6007b1df863d09ab0b27cebb89c93ae0e3
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20136_2026-08-19_05-33-57_392508/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..53fc61495baeca2e6522ee94a80b50f849a53cb3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        598,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        598,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..07f660448571914c60050086ecf4e41c0166bf05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        598,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        598,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4473b2ca5b7784f666d910afd6bbb78f55247fd6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        598,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        598,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..89ec08a3898c1735d584e096560b6187b41228be
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        598
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        598
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..e6d884df13de76ca69d7f744a512455fef90fb2a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..8173f516433d50c2da5cb6e4d9a2b32080ab00e0
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20139_2026-08-19_05-45-14_438588/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f6ed6a4ddd752c40a932e943d3324d67d4745104
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5fb1cf21e14da40e6c26fe7ac6d0dc6aca6830fbc9fb90154d0029139a428e5
+size 158504
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..de5803f2f34910a0441b42041f1c8aa3462613a3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f93f7d5ee76412aa0e07fedf27e2cf54ffdcf048166792bdb0c049a753db4aa
+size 147127
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..013934436347cbfdc7d8e61440f166031b0e455a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a609755ec7d9925460c9f38dc455a88d2108c4f49de5e39e29c6c3d9514a04
+size 1531882
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a1489acbd82db74e2c8e1b5146a60bd555f31de
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8b087a683ae4c65e1c96c1ae3219d45f2a41a09097df79a25d367d57990abb
+size 1430106
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e809b6d49b356c2e3472d5b444b08a81b2962773
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20153_2026-08-19_06-10-04_843275/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6134ea5eece29ad6ab1c6449fbaba81dfe04de56d2133b15abffeb4049276ff8
+size 1677495
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20154_2026-08-19_06-10-51_013488/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20154_2026-08-19_06-10-51_013488/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2d4fc5fdec1d69a84ae3e143f3f91bae1724e6f9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20154_2026-08-19_06-10-51_013488/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06d1d134cbed7097da818a67d239b70c683c1fac435e5b16fd167dcfa9bd758
+size 127519
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..80ff183c85e1d6c3e2cbddb37fe68efc32a63bb8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be76c6d1cba9ff1d01458d893a74706ad70a607b334055b957628e0172aa76d4
+size 164681
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ed55716f54b0d8ff89adf908cede628efc56b468
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ad915cf5f40f03716362b42f272a8c6511e75783ee27ba1268faaf45229894e
+size 154717
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e22e84a563a3b9e5dfac136eaab5f77d1bd984e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3218be99a6c00bc0d93b4d1c4ba607b54fe50cd6bb29ae26be5f55e366dd32ba
+size 1488835
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee1934755875113ad70d747ad6f4bbe9fe530e90
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59ff41087c57841f4501f5e6f93741a190dc16ffacf0d13a92504733fae2dd1
+size 1111289
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..147259d585eac38408f2d7b314a95f7e168c61a2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_20156_2026-08-19_06-13-52_890798/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df00e255cfc18f88aa4c150182f7bbaca63b16574430ae4df21d3d671c1b18cc
+size 1465079
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8e4948659953deac127a70e8a27aaa868c676616
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        722,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        722,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..889133df4e19f80f8557dcd6b629a0edbd4d14fa
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        722,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        722,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5f445e356a0b1ad99ad9ba31dc3b3fc466e97547
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        722,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        722,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e9e7bb93d76a3da7b0449e154dcfff6a86a6b479
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        722
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        722
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..1a05f91e4ef1661467a8931ba227be180330d4cd
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..e445c6507a0ef2c0866846e222dbf55261195834
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30015_2026-08-19_01-52-48_252446/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8f90878408927ea11a25b0895ec92861dbd3d858
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        881,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        881,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..abc6610beb2c5053d5327a470ecf19fdda5907e1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        881,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        881,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8761abff9ec7b438eb191e8e63fbab70aeee2a5e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        881,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        881,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ab87d975f99892eccb8527535cd49b2cb9ead604
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        881
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        881
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..e5698811f1a52f5896f8f3395929492ede0159dd
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..6f627f70e99a7fb19a33c3d94719d2e55437a9eb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30016_2026-08-19_01-54-14_067629/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7743690a27c4b79f0cf109f17a6803d201f71805
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        717,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        717,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..307f01f1175effb25bffe1f655ad7bfdda701634
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        717,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        717,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7d1831dd07bac1b3280c3da3c45557b668abde89
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        717,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        717,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a08f6aa5bc60fa71a9fd01197cf8d6aaad288e79
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        717
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        717
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..8a422fcd9a3bf78cd6c2926d43ebdb0a853c41a0
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..6092ab3730d580e1d44be2899f861348e7de4a69
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30032_2026-08-19_02-45-29_518698/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e644a339a1e924d267d82b71473b54052efd5eae
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4158c0347d2e429fdaa719b86124589d7f58b53f86dfab860c1089ab548b9167
+size 146841
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ab412c01cd8755e99cd48995cd10023d76d9d81b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7598d6d630557a95ebfa5f975664734ed4a4269c0aa3f2bf3f6c2f160491a9a
+size 139170
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd5d1f78c87d1a8eade0ca72d48ea8cfe64a97
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2f005bd4a2be4ed507c6b84dedc5ca95b9089d38154dec3171d0bd2684418f
+size 1511970
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4378eaf231cff039af5a4ece8e9f4b4ad3451c7c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca5ee0962a86e359e4c11e72075fc39e621877edac2f906ac65a2b12ea5becd
+size 1426373
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0353737a0b2e6e6690a8a15e77e8236ff12e5ab
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30039_2026-08-19_02-58-42_269618/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:222ab80c5fa4b732b957076bf609455c7df1a8cd1bee742c216e38b42d70b53f
+size 1628758
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2f66e66bb14e6708a81d10123548308d0af0fb8b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        640,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        640,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a74ed88cf811bffa330c723464a5cff76c7f097d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        640,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        640,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..bdc29c033c061747c45e20e6da7d95ff593469f6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        640,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        640,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ce6f20bdbc073f4457b5071ae7a67f38627a2af
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        640
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        640
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..4bd3510f4591aa2600c1b344f4b9afcd71597bbf
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..7fbff0c829b7d2591c0755c79f48db2b469e0661
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30053_2026-08-19_03-24-08_741131/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..33ec14f7a6e6b1f05be67165224e45ec58c3c06f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0170f21843d7b11ae260380dc72fdf70ae51ed41
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4aa67885f2107142e426d172da56ec823ff32b05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        756,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..47ecb9a3dc84f778c48a211ce94710becf4f942c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        756
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..acd8acfe86bcdbe2ca3e0902d7f22c0cad848d33
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..41691f418f6106d485d4a9a665e53bedd025b1cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30057_2026-08-19_03-30-27_492477/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d2c4be041687131a9687db7450a5911fa518435b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bb31ccf1ee28e96ed1e0727de69f7a228774c03e8d15fdc9658e89e11b70de
+size 152645
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..351abbaba9f6118d400990d16dc18048b9bf81b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089ccfb80a5464f39e6a10a6d70adaaac4e792c899d9aecec5ac6a8081221712
+size 134073
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..16fe87ae5769d942fbdab57f44baf68e4c1f9b9f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:340fae9161f8ded494389df304cffcc89a515670718dd2f4b063b35630a7fb65
+size 181298
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffe89003fdee86abaf05c25e45a83e11bc1dbaea
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ab01ac115abd6d5a5ff91912ab3082deff83a85adf7b768775420d032030ec
+size 1713855
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d17e824e8a290f749530abe6395007cc1700554
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:236109d0b93ddd007d767961a6c252d9f8675f178cb26e5bcc11636a9ba50555
+size 1515415
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9e5f9f6fb459451c5ca738670da26a688a826af
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30063_2026-08-19_03-43-01_183109/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4117b763064772da954dcfe8393305187888020b1d8f09f164994cebf511bb5b
+size 1676150
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0eb65d32030b080ce4bfa5770ccf651ccbca6fee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79058f476e82ff37bba08cb767301db30e915eeebea623b0adc801a0990e8fa
+size 181073
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..cdf55a5bd9546943ad458abd5bdf107186870d02
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e319aef2b5609f46f421401fdd86f4016bd843e378717bd6c61d246647768d09
+size 167150
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..daaec4c1af16ae4f988cbfbad168c5fc6a34a352
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31801c9668666b058de3c3645e96c3c92702c0767382b2c621796125f861d8f
+size 103526
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e80492ed591acd44d2ba4193a8dee718fef2a76a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc5532fc97be46f926adb08363919060c4eecbbdec069b35e76c103913ca82a
+size 1687818
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..109d89ef0ba4c950f499db3825f093d7f0315be1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e83ae01b6a559237728ef07945d876487bc4e9f2d6621c432f0c9d6900956cd
+size 1503095
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fcea81bdd369c4d4f102132cae7dea72f1a4d2b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30073_2026-08-19_04-05-47_086047/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ed5181570c8b3a663183ee2c240ca274f78cfaf92abcdb3cb394f2a369deb9
+size 1611892
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0ca4fd24196cb66f91224a4c1fcd84611f83c2fd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1acc234e42fe788c9a6ac1661c33832dfe916c9b540109fe1b8a0781ccb7daa2
+size 146831
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e3188028500947611a8e8deaa6742380d9ae6acd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b8ae9ca8c84bffc3ccc8befaadbf30592c62e3f4de3be090fddc00672a385e6
+size 146880
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a745c826c00120974f0ebf949c65401858937a24
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa94a049fcf60f61b39d9780dffcd8d92d495b51d588fcdf5262fefa8b6052e0
+size 1538484
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0714e34455fa40539a9fa20b967a910e46103e9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5097ae5ffb8307b3570ccb2ae3f598f33cfbc2ced94075528000083bde49dd5
+size 1413795
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..710be256c9ad6823f93f43d23dc6c935e37aeea3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30075_2026-08-19_04-07-59_851203/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd6f26a1a14bb8df5d046e091dd5fb2c5cdaa46edc2c7552ad85f0003d56389
+size 1650034
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..97b41192025e75bf773fb0e6a3b1e1a748e017f8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        639,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        639,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d88d6b34a5a40d8b189545627b03447a35a34644
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        639,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        639,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3b5b416857c1c99e869ad885f4387e59a71fd1bb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        639,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        639,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..35c0fb57f620a1b9288cc07321da679694955e17
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        639
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        639
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..4e7beb732b96a9ab38aee83439985aa6fe1fcaa4
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..5cbc9917a4b24d47376f1e96a41f8bc41025d4a9
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30107_2026-08-19_04-45-42_283368/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..886bbbe9d627bc5412aee1d2eed4314d1b0615cd
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        687,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        687,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..603b0c2aa15f34d9d14bfe4d1691ec455c2d21b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        687,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        687,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7aa7aaf10cd7e127c555b6b16b4fe67461a59e80
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        687,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        687,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c53a166173a1a22ef1f92ce1c3f3caa335d8a78e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        687
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        687
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..2ac99afeb52d623fe4e13282dcbb688e9945c3cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..315e70ca04e22b2853ad6f6577b6cf02a2684477
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30111_2026-08-19_04-49-52_833074/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..8ee17d68a0d27881881fa6313e137eb5bb1f20c2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e8c8d043fcd532e3233237d0eca762def7ea2f79863cce0eb542e3ff10538a
+size 169970
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0d98c14dbe4078dff49616b84ef83bf38287b3fa
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea7f5d972f814aa2f11218944658e8a16616e05ec0fa47867152db6b02aec51
+size 158576
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e5bd9646af657c5273769e17cbf5cefa1c24a11
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957c1484ae821e2bdc038e25a5be53329f3b9055796c47c8bf776a367f0a45f8
+size 1585542
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ffaac225bf1d766ffb1bdca882c903dab2b90ae
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b341cb2ae67e47afaa5dcea32f8d34c08ae513d36d57af3b28d408b1473ee1
+size 1269410
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a809546a4cba058bf8d4ec0f11257e10f4635787
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30118_2026-08-19_04-59-19_932877/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd43d9664c6aef164fb8690bb7ea5e2971c761aa2a3b00d24e1993e6f3a230e7
+size 1888978
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2128c212d70688ee72dac6b9bec5ab8b84141f24
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        1034,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1034,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a5cb8abf61b54823fe78d8491110a29ed8229697
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        1034,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1034,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1dfad285ee3062af74aacba7e0714bd74b9bbcab
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        1034,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1034,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0b1a9657ba3d91e9a1569eccd02c2a2ba0ec2a62
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        1034
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1034
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..071c305f08ddde502b9aef346b0183afcd6c006e
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30126_2026-08-19_05-12-31_867743/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..07ddff4c3216e59fc85901bb9e6a67f007a56ab3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34973aa24e0b444e3c5707b284a3ff4330c31d76f334dcc430c53c4a27f14c3e
+size 189385
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d40630d228a08a755389bf4233aafee9558b3919
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f26906381b154a864c62488f7dc3b2b5828affa7f0dabb8e093983faff8d56
+size 178363
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b518c16fabe1f93faac5ee5ab2089ce167a022dc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b21b52b97ab5ed22018f1992148755818824465e0c5e0790a75d53ea512190
+size 156586
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b35cad60fde4b53dca6c05970a8b41083c11f7c3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b12c80ab0230ab67fc889b33a395c9051ff65942a3b1aa9e90be4315a676572d
+size 2186146
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b9cdb7c3f654cd1baf04d03fd97999e20720029
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d98303d459ef773d880ccc4c077581075e610c8427d8c7fcd5a30bc76f8ac0d
+size 1861027
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..891c7164a206f37bdd79a47a9092c132fe0fec9e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30138_2026-08-19_05-29-50_275024/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4f47f816870f89cde41458965ff0ac621bf03296d8f7c23cceb8237bb907c4
+size 2408701
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3df946ca09dee3ec6e48f82b290eb56f019b92c2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd567409d84e1b8ca9e77ea89231d5e27d1694d74584e5fbe2907c5fff21d759
+size 179918
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9a11ace285113236eba12f930b48d78ec8fa0841
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5197b4a717ab59e684c96dae6427abaff786d7b4306153b9cd9a9ddd7024a92b
+size 168551
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4916eca524cb2ceedfbc5105e6b6001e9e8c8539
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb9753d4e67533d2e6eef9006f68d0c6c7ae2a62ccf99c1bad76d706aa2a515
+size 109025
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cffe7d200bb368bc5163d26b9437e5fbcf154231
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf83e113866bf47eff653c8c19a332e07cece6b1bd0e3dd5771babf54d4dcdf
+size 1703352
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c06c5ceac6fbe78a0874c2b6027006d086a693e3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43cf6206503d75d7240bc3e1ba1997c8f481f44cc42f6b9e2ae8b4d52f272cbc
+size 1423742
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..015d26d3bca967942873ead374b23eab5ca4f26d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30143_2026-08-19_05-42-03_162865/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd292dcb84a155528ff28e470fb54a1ccf426973868acef8a0dd25b27a9d337d
+size 1458792
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..82729f787dd4c0d8f9e70c9c95a700323810a61d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        519,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..25c23b0e626cafb755adac9bdf8e5ff0e0b0519d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        519,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..42d73c71196ed8a38a40526b70adf7844dec68a6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        519,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..40413654a3677bdbe980a09aa1268eb391036947
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..95b88c220f17e0c778b2fc30f6773db8e3659180
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        519
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..3f2cefef777ccb30bfc481366c96ab9923751059
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..85558a9a6bbc8f6c29613f3e0380f480580c1adf
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30149_2026-08-19_05-56-06_102112/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7e287e73d6c629ff366f6dd85bac20d8a1154620
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf39ce8b38965d4d317dafb0b86f795da7a7921565e0ffa7523b3fb3a90a9f66
+size 109147
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ef62f3b4d28b9821a41b8be9ecf5f1365c85628
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a5b3fe70766ffda416ba5189641a9863f4bf94720b3e57f425e9691a164c53
+size 1728726
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0906b2e903830b6e6787649d3d71af6825642c04
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0fb2af9965d7134a2a0d394357aa5bad39990078c5293c80075d32a985aeef
+size 1419475
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91fad144f87a59e88f4e9712e883307aeeea5830
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30156_2026-08-19_06-06-22_966616/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a118c233af8dd052d6480d69e0179fe1242446d8619ae2b7deff6b2703e2964f
+size 1515509
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..863f278e475b0b07314ea10f8c3ae4796e1ca0e9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050b8820fcb28e5e10f2edf1e21d03bab13e8cdfef8c4f1b113bab19b715c201
+size 178093
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2e7c6c334b98696ba49f0bb00249a22bace6871c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d9b56ab9ae144815ba1fa94a48ae1a5fd9a8094977166f4b97e7ab56a72e677
+size 164251
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b92779309ab5134663d700462275ecb8df59dc83
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8f6e791f169f7ed9fa73afd6e3631868a35c0af8167452eba3deed682e9310
+size 1543946
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3d52aac36f69d6a6218aa81c8f7487e4b8d5006
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d8ba61d4313b179ff25bad13e4b45f7e8082c650fd6d4ff69af0132138da68
+size 1241268
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..421f007c37dabba417f2050aee8e486ffda82abc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_30160_2026-08-19_06-11-10_888156/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabf3585314a224e2d617995531e826a9e8f8f487855a2f2bd17435b638836b0
+size 1449433
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..82729f787dd4c0d8f9e70c9c95a700323810a61d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        519,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..25c23b0e626cafb755adac9bdf8e5ff0e0b0519d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        519,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..42d73c71196ed8a38a40526b70adf7844dec68a6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        519,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0e8f9c855dd06139f28872514dc1e4ba94e186ad
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..95b88c220f17e0c778b2fc30f6773db8e3659180
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        519
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        519
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..3f2cefef777ccb30bfc481366c96ab9923751059
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..85558a9a6bbc8f6c29613f3e0380f480580c1adf
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40003_2026-08-19_01-17-23_452317/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3ec821596442dcade6b1e994c2e214822c4e1846
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b7507642e9f66c2e13c976b5dcb0c948186c59a78344266523b6f6928bbd46
+size 256872
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d999cacb96a561c59ed71ff940577d03ddd54fce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb792de2ca3e4c238d1548d43d08ece71e51f5c51b51df4a50bdf89eb673095
+size 237964
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fe17fc1645c2c0d437359977241da16a1e2a0f26
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4401962c5e41264a2cdf5241cead9e69e9a077afe1fb67c3ecee62a573abe0a
+size 148081
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..783bf430269733d06a4c9f21c5df33bde877c121
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0475fd25740cc882da3d662887eb18ef4c14385692f9b34d481ca61bfee4880
+size 2400022
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5488453705d6f6c3095e65b66dac05403c60edae
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acda77a18704b69f1082b4c9315d1767926254c71255db0b309a9153c4a126d7
+size 1687433
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cfceb0b283abdc8674b87919a23d45da7487e37
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40014_2026-08-19_01-38-19_306511/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c46aa04b4dd3da861a01ed76e19f51b65a71ce64e854d37c21e42606fe3aa114
+size 2488976
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..dda8acacb25413330d8875232efbb5aee570d473
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        652,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        652,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..de6f4abc66d83e07242ea58b06e79f2204d150bc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        652,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        652,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ce7529e54b29a5056843e607a24c820d0df64ba8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        652,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        652,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e08c5cb8db9a295edfc0034a1d6a6422956d6937
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        652
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        652
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..aea2f76b8c1690b5c4d57ca6b5a11858d5a1b88f
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..b674fa16f7278683e76cc1a9d6e4683002e0219b
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40027_2026-08-19_02-01-33_751117/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..577aecc707d9258fefee73e6e93a137dfd47dfb8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87f0637a5e56441f38ebc0381a83e73feaffed286ac5bbbe9e13297a8ea8b76e
+size 141534
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..768ec6f81b36dd8d0249e880708e03884e8722d1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a5cd1ef50f13308c6fb28435f01ff728216e27f898101a150c4b156a8f6f10
+size 129607
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..012056bf164fd3c9d1d2194920f99e6a50e29e2d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65cbe62f33d8d7ce77501dd02c63ec84ae36748661e8eff38ea643837ba2c660
+size 1330349
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77316a743923cc39dbf8ac090cbd0ea4a068ad00
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9857881d43a8b0b346e60d090fad2e3beabbd95ea4033f4028042c9de29123ea
+size 1013565
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e8c017067652e2231869e19fcb2aa696b3ddd67
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40029_2026-08-19_02-06-04_148921/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fa0b99184cf5574c76cbc1427d307f9ca1342b4676f829c8bdcffee6d41b54
+size 1618576
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c70d20650a034d4f5d7b78d5d44b98e96247bdb8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        557,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ce4655fe6b7d88532e860dd10b415199b4179cee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        557,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cd58f40f5e47faf0d5084066d38a97b2c35406b4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        557,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..532d9c15bd882f2256e32b1822aa9258c1b3cf07
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..c5fc27809611cec5e10935906b7bb24eb8cac051
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        557
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        557
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab9b644dc2de2c79a51efe34799e1382062ddbdc
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab83274a52b9b9ca35181042aaea3067d0db40cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40039_2026-08-19_02-30-52_867236/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..68ddca35d682e1cc325537f91f315e3cc2fd4772
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        723,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        723,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..27d055585df2044d0218c9cd9b486ed02f9ea844
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        723,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        723,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1aeaa8491ad1330834e73665301958efca502f1d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        723,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        723,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a9b65201970ee67a29239fdae146fe85258daedf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        723
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        723
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..6f0f5fd21695f3e777044c154f54c09fcccb9452
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..e259ed08ef6af904faccb08d3c7b98a07ca17f71
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40055_2026-08-19_02-54-34_961130/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..712facf458b54d2afed18d13ee079af13f64ac41
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44fc094c2791f18d63bd72ec7c81d1acde04d7f5630871345f2bc4b2b11545d1
+size 159368
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..94bb97ddbec5a3618ca82482c17985a44fdb5bcb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa6b8ab85b0e1887d2cedc7efbab7e468d82be1f3e4b253973f7475fa645f7e
+size 145137
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fae3e34beda557fc4c2cab7b501d14c9d84c471b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8508385dd662473114d71fbd31d63bf6a8996f594b51bee98dbcb2819f8d7a47
+size 1632165
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a765ac478c3f86f0565b38ec1a60746f409bdea2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a4cc7c7cdc36edf2cf57a8db5b02811ef9e8757b5b1b5e9a5286bc6d235797
+size 1186647
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67cc631b52eb89794d03b15f08b7504adcc7e8ef
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40078_2026-08-19_03-39-11_626831/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df14e710b2d34acb0c61980e4287cd4952ecf0f8d20a151f4050a34ed509a431
+size 1556766
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..dd1f550533e2b23e8a6fb85de0df9c72f44557db
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c8fa9ec80f53346d1a65672a8b3171089194f9ce4c21be97ccdf14c12220ce
+size 207770
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..51a2ac6b55fcec82a0296f9da70ad1a0548305d6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f08dd4da243b42cb864879dc0ee7b852dbbf862e8b65ea53c2c16594121ad1
+size 216952
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3c268edd9ed359abae3a296124a982c1516c81fa
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e85fbad7b0130543186b53528ffb2d85884c24cf6537ffe1ac4c4676f9d4672d
+size 122340
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64b82384311c341887f8bdb00ea77bca78b8e27f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bff2c5900a789fa6c63478b30cf5f9bc34ea6113a8e892cb1aab4f7b02f866e
+size 1905795
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f35485d3d44d2b3228718620d5f8a93053a0fa9a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363d51ebee98a8506d34b041d80a9dbda18857de98665375e9f30bc5865c1e13
+size 1615335
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c66cd29cb3017fe409b730896872a49ded0363ad
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40095_2026-08-19_04-03-51_042585/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40db93edaf0fa4c26a95dadf2c27bad3f3f381f71f9602256f205b18ddecb90c
+size 1702464
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2f76c1e5eb18f03ad8e6e0a622dbd432fdc4f65b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e657ccff405d3f1cbeb85dddcbd1e733540eb40835738f5cee6c4ad81636f7f4
+size 179127
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..aa9c8c39a7cec403ed9d0aad279fff1c5b278a13
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84935607fc2763bcfaf86153efc7c987a94ebd9bc3a55eb196ad474e87cd14d4
+size 170604
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3bbf04f0de18a73b970eba24fdea764224f5f5a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a8b505b5a8671e892adb76773054c3934819f938a0a9decd414aa048666909
+size 1634433
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf99efc58425b31db3e226c9a7f8264cff67aa1a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d41551d39012941aa69acbd57a0ddc6cc56fa4a51d0e14c42f92a17ae212265
+size 1323751
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb6f28e720cd830ecfa253b6ba6fbb472a04fda2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40116_2026-08-19_04-49-15_104316/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435b7d6febca7db80338e7e0c6db749d72380762f5799e6d8524364fd19936bc
+size 1835121
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d2f4d957cc39a78f8374795075bcda645fb20eaf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d7f3409e4b087c78e5abefa7a5fb6ae97ecb0e1655e59d3351185af2e22ce2
+size 188320
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7b2d965138ab32e757995ab2ac7cbd44111acdc5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b90a7bfb8d23c3d16a93c1cc9d5af2d8beea7eb5120ffcf8aa44242666cf7b
+size 180273
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a06d3e382825e46ba090f41dc881f0eca0233346
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f19703d65e840179d3e4fda35492b216be1efff53a1fdca839fd6564fdb4519
+size 101440
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcaeff6a37c077e91320591b177b7e519df3cb9f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9a22481e0e7ca491908474f62ed5874c1636c33fe5922e8f1fa0fd7dc36eb2
+size 1695941
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f8e61cb1c3f154a5b47efb7dc4216ede1beb1ca
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b778b7408a32b3ba23e679bd06af49fcb0cc32cf1cb4638c3fdcda1380d7f1cf
+size 1488355
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29cf413cb4023e6fa5dcac89b5295834717dc7ce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_40166_2026-08-19_06-27-16_167864/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60d4383a73a0fb9308b93983c4e269b6627a3ebacbeafa8756cf332f447c7198
+size 1758450
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..97f9e2022a2d0e8ddc7e6316ebb0595e702831af
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        646,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        646,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..010ebeb8007228a4547ed380b30b91cdc683095f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        646,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        646,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4b7affa8fbb88d20ad986dce6abe7ea6fda2da2e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        646,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        646,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..cd0b0e52b4d30d209b082c958e680e718fbc3d29
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        646
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        646
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..2a2e90150961289ec3afd5a2bea01056a896ed0d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..d73511ed64429a69b7563c9ea47ba2ff248e2ac7
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50002_2026-08-19_01-17-55_053910/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3c3dd5d999b03b1790e2560123bf03ebf6f06e6c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8968af419c17117d1186bb63c51f0d1cd0d451613ec247ed900ccb92f0ab3f
+size 179102
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e3c5bc4198df85f17cdb3f45433d65e2006417d4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a22ccbbc248aa38c117e9b08a7dd480e921bee8aec7cd024ba6560c68a5f20
+size 170660
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95c05fbe56320d5fbcf803e347ec1a16dc56d574
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a29647a2785ace8ed201caa52fcaa116859217312c1c948bfbbbb9a1b600da4
+size 1613162
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c4255b67464c74e371c2600675700e0f6ce79ee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ac6759df0d7db2a0f9b16a5c92a02deeba66cdf1637088b1207e2907814318
+size 1354626
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22ac80838ad6e9e17236100dbcf93d61179f1186
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50005_2026-08-19_01-27-36_310069/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e367b26cb10060695eae001cf32ddc65cb29b5582bfab6c80ac93b5ed3cb2347
+size 1813066
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..59c5cd126c72cf6db5292c6e1b9af93a4c759c54
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd5e59bdcea5164fbaf6690564b3a3294f74116bd31af29788f36633c81072c
+size 186507
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c527bfa78eefe25eb302cb7693ae9469ef40a03
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f949ca1eaed2317d4fa180acbe7f6e4b843aa5491760489a7d87fd4bc6cf87e
+size 160867
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..82106d51ff10c9c9d0354fa8d88580cf4ebf75ef
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4e857a5da3d8ec42510430fd399ce9cb0be1c964d58d5592ce77dc0e6cf1e74
+size 103887
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b70d8390a51c056182902924abb6b2a4570fb7af
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c64d41368b1663847cd953b9772c7cb01847819800e6a0190217e5203c2e751
+size 1709156
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a3d8037b9b1edcbf878ab8a11dc7111379dd3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cfa4d92c92d2fa7301bbe0b717f55d5deaa16a144a096896793f6633eef4a45
+size 1275477
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4db5fffda2bd30826ebf6e9b6001afe96e7dc0d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50012_2026-08-19_01-41-32_013832/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95d2b798cc1b5469a7cb59e22035343f715513d241204c9b28ee77a00ae3c29
+size 1720324
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..16b69265e9f8730a75af3332bcaacf868663a711
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5b032387f95a3f3d1eae8aa80d6303045ca2cceaa7137cae50a1c81733ea07
+size 181894
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..89053e84f0962259a2f1b8a5645f36f5e434900b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10100bfd12a14178815adcf71211ff2eb745f2be621be6848523a1a861d738d3
+size 164852
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7b9a4d1c65fa9e89475c4729e3b0777c42b27a7d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb0db256f12252304d3a423a6a77768c01f00d6f56d9b600276acf9505557ba8
+size 104284
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..671c310ec4d159b3c26b9ab65ed4207f4bbfbc48
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ee898d28c9dd46c51cd0d55e39910193a9285a976c71bd056fc0e45f2d61f3
+size 1778407
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad5f09cdd3b121d6ae5270eaeaf519cc612fc0de
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02bd4712c1a983950869615e408f9c923ab6856966dee7bcaa980f44b399a3fd
+size 1568304
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b8295433d9f6ef062a2601fbb75f5f74e985845
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50025_2026-08-19_02-17-34_166188/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69306a3f5bcea1628ed3632db5c5dbbddf70589115ee8c68bed407b27ebd77e
+size 1768321
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..de5dbbccafce77db902a0504b7c5d1d1f81f5648
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        502,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        502,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..44578432e31d554ceed09606ba4b9dba7d5b400a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        502,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        502,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d375bc56f2d6aefda5db16eee4deefeb007d50c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        502,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        502,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..84b2711f0f113487daa3f9787af51545236d6cdb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..658d0f5e53ac1a841ad55e427ba161fe5c642eac
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        502
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        502
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..a2549fbf73a94f24642e7ba2cae3714586b065c8
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..2a924db835040aec3046ea5b1ce284642c40d5ab
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50027_2026-08-19_02-22-53_181473/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..093fb4245f008b3af83e02870eb81e16046a6608
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f12d3805779b997b1ed9a74ec4b1082bb9f944161d75b152e5d431bc8782243
+size 146912
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b4a2ee608e92543c02b8e17abbc62486bc284de9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3efccb9952b21b2860bb3811857f3cdbc8a8ea0f38a8f50abdf5acb395e3fd
+size 147007
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0300e3402902d11662b760db91362465616973ef
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f81c09179ec7ead494915385d473ba7757a452486382c026529cda34d9c1943
+size 1530804
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a20ce244ab25cac1f2898f8e1b343a725919c96
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49454cb287b5b0fd02e2ab21a5673cb616e1f5f0f61cee8f21e7f1ac6ef2d8f
+size 1448639
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ead1b28af781bcab9cda2fee903d9aef3644c292
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50035_2026-08-19_02-35-38_805065/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79768eb03323045f0b5d6d8e00ede238f01f4bb0b5c2a938d3195ac79d2dfa8
+size 1620778
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b433b492f9ff35632956bbe9b5d76eb602fc9ef6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c1dbb729b4e2a60fdf450ad5b037e1084bdcbc9fc5379773b8e75b36b7b5c9
+size 158291
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9232e9d839c790440f0362acc3ec0fe75ffa12d2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9817b589d6524e9f9b34d9a1847adf0c34ae1c2063e2f6c2b7f51bd5b46de559
+size 151190
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b00cf4027f76dca91876475d661f1792efb432bf
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde7cfeb6ab7a44ee469db898f8ef9b6e4bb1e714a9168bdc712a2328967d10c
+size 1470771
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aeb5dd57742fcb6e30e00b845f3f73eca7fe30f1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7a56d01d73d6f60dd28eaddd3a7ddd58b50e0e91914c930c42277f9323452e
+size 1264386
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b60580537ecc6538a365100efe4f815ea7faf1c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50071_2026-08-19_03-40-29_506332/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076aec71a875465e69ea340c9d8eb1eb53ed96ff84d9e1728a1467910b26cc0f
+size 1371734
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d11a377e82e421fe0616d0bf9ba27deeab35936c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f85b7ae3e7e21e02d6a5b7af6f5bcd94531516b7f2b17c7ea7d95ac2b4012f8
+size 156217
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0f77aca45b085915101e5578d19831c185d4a72a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534f8a72d67898ff0e7ae03188877b2a0a99da3e9125baf65746d53b7d241810
+size 145480
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89cf4833fcc15abe86aa82e55a68b958dc358ed4
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a742ec4e7774a83fddad31bb4a136f450f0ff144fd6d4bb074a3b6801641be9c
+size 1476500
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a921d41bc57b7223b52d9b6a592f8d0bb2fc23f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e84736fdcfd4207f9c208123403572e8a470c5c89b3aa0b02a7df13b0f7673
+size 1124130
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..252960f60c5b824f6057ca5ba778b1d18372bf5b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50083_2026-08-19_03-54-17_818989/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e1c9dd999421bb0b15388578298d9605a02ca788d3dc6e772b2d8d1816ac9b
+size 1439267
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..12ce561aa61e2c6411d18b4759df9f6a460ecf6a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249fa8126e2ef6293da99aad30a732b78c6656d487f8ae05910cb97e8e49e318
+size 151397
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f677cf22863b0c3cf8ec5524ecac498d2a01a4d2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3130a1a786edf966c6fead6e662f021807d36dbdfc756b976e323a31d6515c05
+size 141090
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b5ab4c6c05d475f867ea682d350ae1260ecf57b5
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab65e48e2c04f569eea24f18753881eae5bee0696311eb9bc4937559d825cdcd
+size 105560
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74b36a577c0011a73dd4bdebcb14c926d4d4197e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd61c4917e8bc28933c2b3aff4696b217eb61b437119d45a38cfdf90838f537
+size 1444239
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a3be4fb7e1125c242d9315af90954d7b694cd2d
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ed07055df0964a8462b9dcf4cd9fd1622cd2b1ce970f9dc9290763defd92cd
+size 1136220
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42d828137013f4963066395341ddd22aeefabaf1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50084_2026-08-19_03-55-10_394325/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96dbe36ad9c0ade763d12ea5bdf177548c9f8c902f08a32b795ca2205ea0da7f
+size 1320622
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9066e7f8ace66941ceebcd041444f66b97e22b2f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        477,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        477,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..902f02db7e055f37ed175fbf3998a6d864c5c0bb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        477,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        477,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ecc3cfc4889b5c56332342b5ee0533e7399aa4a8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        477,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        477,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f0479ae30f8e69d3c07952dc6db02fb93e0b8629
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..af34749aa0d97a18376e6f4ea78aa7e660208c0e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        477
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        477
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..bf8314d3d5734f773ca837a5bf8cacf8654d1c39
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..949346e996f67e69b4d001c43b8e9df8682096cf
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50095_2026-08-19_04-09-15_570380/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2c6b7b818da343c53fa1d6a001ade1d59c60b149
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9941e6c8c84c6af9859b31c6ee20362b5fdfb1a5292fa9c0b0cf198ca2d78a0d
+size 124245
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b9ee7001389e1806972958fac7489dec7b07ca0e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fe80b8545a712a1be2f68c32269d960409d071b22eec950a15c915b3c931dca
+size 117459
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59c9be7413d8139f106769ecba9bfa91d816a95a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52201466f80733ca39989dcdf16ac802bd7d17a9d4df7969198284e289c9725a
+size 1367710
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4aff7d7e45c0a59f48374a6e0a2c115acde6ce12
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa25e859c88b6e5b11aa27e61ace7b726d3281515a3ea8a9fc9ce4373f929ebc
+size 1317269
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..562713516173964ead57be8fda39cb92b3777a42
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50121_2026-08-19_04-56-36_919786/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b96cfc66bf3b6fa45e0a52c10fa673fef5593f64ceaa402664c986a9a74b72ae
+size 1314603
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d2fcabbc8203599e99e830ab0c54e37d21d7f0d7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4ce6624586654cc096ec2f18740290d8c443b3f470c3e090c30665eccd435d
+size 159078
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f1c077575441f8f5e78970f05aa9a5672b2a4288
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f24a31659049946d6951841b14c9cf27be0b9cff0e8f84282905aba4269e9a
+size 148421
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fe57d0a67eef7233d5072f3457a7b389438f5f6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5523d9ce6c555b3092058dd852fbeecf7888e9883b48fcd992a675f13d832698
+size 1494192
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c12c6748a19f992de20af5039a5f146b3062df2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a0a6dfe560da62b959ce0704c01d4785301b85caca8d7febd8457dd40858c1
+size 1314265
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..518a1e57f492c54408bca7519ef45b027588999a
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50128_2026-08-19_05-05-18_190237/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e991e746e02d28c32a036421e576c2dcbcd71b399d1904155426efb48c4a81
+size 1443489
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bafef30f4ef79686bf2caabfcde6ec90c1119914
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd1addc29b01670609072f43699d4e87265ec325c4d4b2dfd2895fe3caf6a0dc
+size 193145
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bee08f142eb90dd7d0a13c6d1846b0e54d8321a2
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adfb1633cc807530ae64f6bafab3e4730a60991c91582383c6fe11b2b77f0c73
+size 184415
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9a4dd133d1719da1c82e146e27113d38964859b1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99224bb500c68a0ccbd7e4876360b464e0fd997ecf027fcfab3463e5e477a1ca
+size 107153
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a975c2a31ac8e0685f5a11674be8b63ab663623
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142f7e6bbad25309e9c08de45dcfccef31ac425dac221ba751acd5c0519e5b28
+size 1846551
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4cf9100a82850692b71a08cdb7293e0831f2c44
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8a43960634812dad561269603f7077441bdce454ed930f967f21724b0fc253
+size 1307643
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..445321145f5155941de5948d60365d6f8203acab
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50142_2026-08-19_05-32-56_216654/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597aedce3ee06756cdc3fcada6e1f3bf0a01ba7d4fc65a56dec77fc8a258e51a
+size 1615358
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b27ebb5c441e2213920653f97a9d0d18711d582f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f8f8aa48f1d60538786388815873033065f0ef2527364c6410fa374346fd6f4
+size 207930
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..41dfa115f8f8ef2e6c4521918fb65373ff73f1d6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8d34b49c58891ea6221d22fe25e46c313afe48a6f5ed7a1393a3217bc7f5e0
+size 217010
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..edaf9fd14e4138af114696a05018c748c4ce7932
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0b0624c99782f15929d11a3f34475e9c3b54449639e7b942414572abbbbbec
+size 122278
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b53e0176ad01d94724e1137decb214b6e340b684
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d5b97b7592a0195aa6165f9fe3dd019ec1a75c35d096819c77023ba16112d7
+size 1959044
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d26fcad55d5e4d08b00c9e544e513ea70aeb9bbc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc8d7acac16d8d2e06f51a60728c4d03cbd69fadbb639c20af2b9b3d14bfb86
+size 1577357
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ccf78bfb162d3a1e0998a718965126c6316c59f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50146_2026-08-19_05-40-03_565180/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f95c21df5366a1c138a002e7bcc99aec48525c978848068170e3d96a9624b99
+size 1744137
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ea75c3cd92be055ee5b4ca2768b8725bd8c99ea9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4f986f89e2863ac3611abfc53147a5b153138efc113303aba1e41d927f55ca
+size 183401
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c16ec5b2ae7cc1376c89db80d4865d67617850cc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3777ea51e96a76c3749fd6589c9a9f03a5f61ae5b0a1f2309e981e807dab8e7
+size 171074
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bf18ef6c36d2c9162447dfabc282193e7f3cddeb
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37393acbea5724e14201a67aae484c3c2f8a82f15b0c1d75686a65bce2c85968
+size 105397
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c54c43c36add58307df6dc43d10c2ac250dcf02
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553f0567c5165309c52aa7e555323e9de3c19aaa8ebd7faba88421bb17b4e651
+size 1601425
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1cd0cbbb7215e53d97fa69b0774c0e79624f2fc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef59677edfaa2eb61cca593811f635d7fdd939a07289511037c424c6d2af9afb
+size 1515543
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22bb1aa8a658614b2570ead394ee339b76cef49f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_50166_2026-08-19_06-15-32_681063/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3f69a2df0a7ef7ae299111e71be61de1ef8206917e627021dada43f0a99fdd1
+size 1659613
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..90b7e88aebdfa64a38fb1642a213bc1faaa2bac9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        552,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..03ecfc4e7612e1b95497908bdfabcde04c0b9ae7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        552,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4bd6019442dea0f2059e523b17f57b1273e121c6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        552,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..f49793839a7024b3c5104e92978271f6c58134ce
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        552
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        552
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..cda4c3e13964ffaff2467e94c973dda21d6135d2
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed6af101faf1b79c6957cac7b640818b7ee1bd5a
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60001_2026-08-19_01-14-37_028965/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..451bcda8510846cb61934eb41211b12738323d86
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        523,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        523,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5806237401c1a5410e9c7450cabe9b10c68ae11b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        523,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        523,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0decb150ab4f9e633323aebb47d6f12b0a5aaeb6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        523,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        523,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..26fdaf35f757571ab07f0f7d36956adb7e261927
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3fabdbb5fe8c57c6db00a43d6f8655fef05aa65e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        523
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        523
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..7a005d00f15a5105e0a07decd7a1b0a2e2352741
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..af63d113553fd7983cadad3010cfdc4db6fc2262
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60023_2026-08-19_02-04-30_693149/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..aed27f0981eb2433aec0ed93c0dadf6ef59be0f3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd1b9dd1049a588e73c4c01ae08eb32b3ced488d39dbdf1c731916301929a7c
+size 129488
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5a5a4a490bb4516aa0f0dfd5fedabb461df7cea6
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38442d359dee3773c17ed219a656197a107214b12c8f25035db9c58f81de74d4
+size 122477
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adb9a2a3b170e95ed7afb907eb7aa8782082b2df
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e36a84a4203930529ec39c699a84de0b790ddbb692b8fbec9fb5a6ebe5e769
+size 1431900
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91dd2af56d5797325a2f0e6f216b20f8d8880eab
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472eedcf2a1d2c6bd7a624d9ade8e72138d94b138ab60f91edca9b14d4615c51
+size 1124877
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e32d5f7fbc514d3f82f94e8ceb1f39e0e732a076
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60030_2026-08-19_02-15-55_413147/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e6aff02507e848a14054eb38a89b699f322a27de778da7c7c28c179ac7f8e5
+size 1427105
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..99af4f7aceae167087a75be6101e1e0dba82f3ac
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..6390b9a1cbece9ddf33c842b49de2be2133337cc
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        577,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2b6615e3ff16fecdf6a87e132d842e55e019ef5b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        577,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..8ef423733385f52f0d7054a314e6379b63bbcd28
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ba08c4921673db885e86c87ca741d178cefa4ee
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        577
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        577
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..ffd9f3e8a73d7c2eef70ebbb7844565d2b9624e4
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..7058be76e9b18ef81070adc61c418a30df1b6f1d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60071_2026-08-19_03-28-49_353357/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..979f392528aedf2de20af4d3c308e177ea6f7aa3
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        623,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        623,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..95697a9c3b948f253a890019ec8c5dffa17d7467
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        623,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        623,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9a3f3f5a1c42748a094d441fa9706eba84369fe7
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        623,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        623,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..65200d0f99754a773ab95f5af9bffefa888a5007
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        623
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        623
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..19630504a74d2382bc5f43999a8a6cddf42bcbce
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..eed07b0057090a27598bb8e11c440974099f0e39
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60080_2026-08-19_03-42-59_362869/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4ab39816585d30852ded7e55bd6d6dc6caa9174e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        599,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..223a2b07c55caaf8e60ee7b9b20da2360f4fedc1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        599,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..7aa9841621427ccbbd696fac379e1fb80cbc246b
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        599,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..934acdf0155e504b2053bebe89e9b2084d1e89a8
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        599
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        599
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..9e3a0c42b8470948d9ef33d7c8f4b893cc76a2d0
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..a65aa55842c0b682726e86e9957c6f4c63a33539
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60112_2026-08-19_04-43-12_237824/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..33ec14f7a6e6b1f05be67165224e45ec58c3c06f
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..0170f21843d7b11ae260380dc72fdf70ae51ed41
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        756,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4aa67885f2107142e426d172da56ec823ff32b05
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        756,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..47ecb9a3dc84f778c48a211ce94710becf4f942c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        756
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        756
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..acd8acfe86bcdbe2ca3e0902d7f22c0cad848d33
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..41691f418f6106d485d4a9a665e53bedd025b1cb
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60136_2026-08-19_05-17-48_446452/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..fc4d07e0f1c1cd344b6f65d0dac2ed82177c8c87
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        579,
+        46
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        579,
+        46
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action_rotvec/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action_rotvec/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3e0322f9ceaaadb22475d5c4f8dfb143e75ecf0c
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/action_rotvec/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        579,
+        44
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        579,
+        44
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..2cdc8c68694087d07a42e65b3aaab373a525e7da
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        579,
+        1,
+        61
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        579,
+        1,
+        61
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..270da00ef8175aad1e3b1ec23d1f46f8c3c2046d
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/state/0.0.0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..24fb8f8b26e5475b6f163cf37338af9f64350221
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        579
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 2
+    },
+    "dtype": "<f8",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        579
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/0
new file mode 100644
index 0000000000000000000000000000000000000000..05c2def8cb2905f093c3e4893e44a4456f063385
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/data/timestamp/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/.zgroup b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/.zarray b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ddf0c192776c77699d938249434b2665c2670019
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,14 @@
+{
+    "chunks": [
+        1
+    ],
+    "compressor": null,
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..b1ed91b722ebf87feb8959027cb88aa0e8f6a194
Binary files /dev/null and b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60147_2026-08-19_05-33-35_863326/replay.zarr/meta/episode_ends/0 differ
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..baef5b73b90a00775df1d7bc69452be6c6edb48e
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd32c3e3659e12d5f0fecbeb8e6eb9ca009052f51a9686e1e2bc9bf711325453
+size 157334
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action_rotvec/0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action_rotvec/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7efb38f4c10a481d92c51f71bb3bba6afe8f5ead
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/action_rotvec/0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51715d085689bdfc2290989efcbf611a44c6fa9f7fddc4ff6ba3400e484bef44
+size 154137
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/state/0.0.0 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/state/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6efa49160d65ebc55434e08f53308adbfe7a8542
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/replay.zarr/data/state/0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d8bf1368b44f6a702af6fdb74c615fb0e659250f2ef2fdf42a5e2eed00bd08
+size 101849
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/ego.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a96705da1ae3348be83fc12cfbd7cff5cdc88233
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e4d6cc23af20a8bf4db3498cb46e233d9c0dbb05d546824627d07519d8b0af
+size 1677151
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_left.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_left.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e973a94f68a2666d40dd9d6693afe02d950dcbc9
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_left.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b7bc88b80034c2af1ab3a229ebdfce0e782e938a3f2c3fe6894506138c96eb
+size 1319369
diff --git a/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_right.mp4 b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_right.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2a89278ba9a7569d553778374e259ae8dadced1
--- /dev/null
+++ b/dexjoco_raw_datasets/bimanual_assembly/assembly_demo_60165_2026-08-19_06-05-19_879284/videos/wrist_right.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81857a5602cd8ba49799931342c6b3f70620160a79c0246f89ace2ce7388b126
+size 1829597