diff --git a/.cyclo_cache/data_aggregate_v30/24c8db29ff564ccdd653b86c033e1baad9c3b0338115f43210835b40baef52a8/manifest.json b/.cyclo_cache/data_aggregate_v30/24c8db29ff564ccdd653b86c033e1baad9c3b0338115f43210835b40baef52a8/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4117870476a0c79111271b3f5ef8f12f5d1c59
--- /dev/null
+++ b/.cyclo_cache/data_aggregate_v30/24c8db29ff564ccdd653b86c033e1baad9c3b0338115f43210835b40baef52a8/manifest.json
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\ No newline at end of file
diff --git a/.cyclo_cache/episodes_parquet_v30/f1fe28151bdbdbb546ef66eeae13f085567548c222b5d9bd4f88ff76c6ad55d8/manifest.json b/.cyclo_cache/episodes_parquet_v30/f1fe28151bdbdbb546ef66eeae13f085567548c222b5d9bd4f88ff76c6ad55d8/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec2cbc6debbcc96af9f98c90a7001a098fb83e3
--- /dev/null
+++ b/.cyclo_cache/episodes_parquet_v30/f1fe28151bdbdbb546ef66eeae13f085567548c222b5d9bd4f88ff76c6ad55d8/manifest.json
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\ No newline at end of file
diff --git a/.cyclo_cache/subtasks_parquet_v21/1d366aa9583946fcf4037911dfc67042d21f073274af142902394605c1a9fb14/manifest.json b/.cyclo_cache/subtasks_parquet_v21/1d366aa9583946fcf4037911dfc67042d21f073274af142902394605c1a9fb14/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0197aab807a1a1561792d74a1e14a3445759fec0
--- /dev/null
+++ b/.cyclo_cache/subtasks_parquet_v21/1d366aa9583946fcf4037911dfc67042d21f073274af142902394605c1a9fb14/manifest.json
@@ -0,0 +1 @@
+{"cache_key": {"codebase_version": "v2.1", "pyarrow_version": "24.0.0", "rows": [{"subtask": "Grab the orange screw", "subtask_index": 0}, {"subtask": "Place the orange screw into the hole", "subtask_index": 1}, {"subtask": "Grab the driver", "subtask_index": 2}, {"subtask": "Screw it", "subtask_index": 3}], "version": 1}}
\ No newline at end of file
diff --git a/.cyclo_cache/subtasks_parquet_v30/7be6b07de79f52422aa211321779e7e85f25c80f7f59906ebb6743ee3bf706a8/manifest.json b/.cyclo_cache/subtasks_parquet_v30/7be6b07de79f52422aa211321779e7e85f25c80f7f59906ebb6743ee3bf706a8/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7113642583d156924172d2418101536e1ba9a60
--- /dev/null
+++ b/.cyclo_cache/subtasks_parquet_v30/7be6b07de79f52422aa211321779e7e85f25c80f7f59906ebb6743ee3bf706a8/manifest.json
@@ -0,0 +1 @@
+{"cache_key": {"data_key_digest": "24c8db29ff564ccdd653b86c033e1baad9c3b0338115f43210835b40baef52a8", "parquet_write_kwargs": {}, "rows": [{"subtask": "Grab the orange screw", "subtask_index": 0}, {"subtask": "Place the orange screw into the hole", "subtask_index": 1}, {"subtask": "Grab the driver", "subtask_index": 2}, {"subtask": "Screw it", "subtask_index": 3}], "version": 1}}
\ No newline at end of file
diff --git a/.cyclo_cache/tasks_parquet_v30/4d79b102f2613bcde566412dea571c23f7adba7690068deed48d25b0851cb21f/manifest.json b/.cyclo_cache/tasks_parquet_v30/4d79b102f2613bcde566412dea571c23f7adba7690068deed48d25b0851cb21f/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..51141b32bb1e2e80dc507c3c0b1d9cb676c7ba32
--- /dev/null
+++ b/.cyclo_cache/tasks_parquet_v30/4d79b102f2613bcde566412dea571c23f7adba7690068deed48d25b0851cb21f/manifest.json
@@ -0,0 +1 @@
+{"cache_key": {"data_key_digest": "24c8db29ff564ccdd653b86c033e1baad9c3b0338115f43210835b40baef52a8", "parquet_write_kwargs": {}, "task_names": {"Grab the orange screw first, place it into the hole, then use the driver to screw it.": "screwing"}, "tasks": {"0": "Grab the orange screw first, place it into the hole, then use the driver to screw it."}, "version": 1}}
\ No newline at end of file
diff --git a/11/camera_info/cam_left_head.yaml b/11/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ac91b40de6dea85b2c84990bf47a5888371039ae
--- /dev/null
+++ b/11/camera_info/cam_left_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_left_camera_optical_frame
+  stamp:
+    sec: 1787013782
+    nanosec: 532279377
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
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+- 0.0
+k:
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+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/11/camera_info/cam_left_wrist.yaml b/11/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cd8cba996ca366325af89c035d588e0fc7ed79d9
--- /dev/null
+++ b/11/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_left_color_optical_frame
+  stamp:
+    sec: 1787013782
+    nanosec: 535226563
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
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diff --git a/11/camera_info/cam_right_head.yaml b/11/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ee8db87f778db61545209af753d17fed33f9381e
--- /dev/null
+++ b/11/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787013782
+    nanosec: 532279377
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
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diff --git a/11/camera_info/cam_right_wrist.yaml b/11/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6801e92a801214d918f28bcdaf88a0bdafcbc21e
--- /dev/null
+++ b/11/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787013782
+    nanosec: 540230469
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
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diff --git a/11/camera_info/camera_metadata.yaml b/11/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/11/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/11/videos/11_0/cam_right_wrist_recorder_stats.json b/11/videos/11_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45d78dd3134f3f9a4e1d8c3d9d90de3c1404669
--- /dev/null
+++ b/11/videos/11_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
+  "diagnostics_path": null,
+  "first_recv_ns": 1787013775098780353,
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+  "frames_dropped_queue": 0,
+  "frames_metadata_written": 225,
+  "frames_received": 225,
+  "frames_remuxed": 225,
+  "frames_written": 225,
+  "last_recv_ns": 1787013782553374572,
+  "max_callback_queue_bytes": 29293,
+  "max_callback_queue_items": 1,
+  "max_enqueue_wait_ns": 415301,
+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1380273,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 29293,
+  "max_raw_queue_items": 1,
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diff --git a/11/videos/11_1/cam_left_head_recorder_stats.json b/11/videos/11_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..441ec3006b4ce3b9d2e066f30f2d5691005425e1
--- /dev/null
+++ b/11/videos/11_1/cam_left_head_recorder_stats.json
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new file mode 100644
index 0000000000000000000000000000000000000000..2e14ed1419b5478682b62ac6fcec58ab032f0437
--- /dev/null
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diff --git a/11/videos/11_1/cam_right_head_recorder_stats.json b/11/videos/11_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..702154bb0915ab4d7b0a04017d51bf5189afa019
--- /dev/null
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diff --git a/11/videos/11_1/cam_right_wrist_recorder_stats.json b/11/videos/11_1/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d48bf687e56726fd14059dbee44a566845d82c54
--- /dev/null
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diff --git a/11/videos/11_3/cam_left_head_recorder_stats.json b/11/videos/11_3/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d4eb80e4597079f14b8f0366083722d83ef827
--- /dev/null
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diff --git a/11/videos/11_3/cam_left_wrist_recorder_stats.json b/11/videos/11_3/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83aa0d78f0a788bf2cf573b992a0c7946164b07
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diff --git a/11/videos/11_3/cam_right_head_recorder_stats.json b/11/videos/11_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd699069730189d4a2403be0c6470df79df3919
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+++ b/11/videos/11_3/cam_right_head_recorder_stats.json
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diff --git a/11/videos/11_3/cam_right_wrist_recorder_stats.json b/11/videos/11_3/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa59168d951e05be418b8b587bb8ba9859665c2d
--- /dev/null
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diff --git a/14/camera_info/cam_left_head.yaml b/14/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4870f596d4226d688c10b1b6a4ba558c14a910ee
--- /dev/null
+++ b/14/camera_info/cam_left_head.yaml
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+header:
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diff --git a/14/camera_info/cam_left_wrist.yaml b/14/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..00e81687625b6c9117f036b95d41638ec8850c33
--- /dev/null
+++ b/14/camera_info/cam_left_wrist.yaml
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+header:
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+- 217.81771850585938
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+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/14/camera_info/cam_right_head.yaml b/14/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aa2b5f708fdae43e11c4a3ab754f65859d0e9e65
--- /dev/null
+++ b/14/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787014952
+    nanosec: 545633899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
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+k:
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+- 335.171875
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+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
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+p:
+- 364.6078186035156
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+- 185.6189727783203
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+binning_y: 0
+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/14/camera_info/cam_right_wrist.yaml b/14/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d44a83946f8d49992351a5f1400db4604208c5a4
--- /dev/null
+++ b/14/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787014952
+    nanosec: 545712646
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
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+k:
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+roi:
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+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/14/camera_info/camera_metadata.yaml b/14/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/14/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/14/videos/14_0/cam_left_head_recorder_stats.json b/14/videos/14_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c132ca0cc90ecc3e75b4882f4705f53f09fc52c1
--- /dev/null
+++ b/14/videos/14_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 4152046,
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+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9792279,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 179410603,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/14/videos/14_0/cam_left_wrist_recorder_stats.json b/14/videos/14_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44341c6be1ed41ee42190bca1f3730d0321d293
--- /dev/null
+++ b/14/videos/14_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "frames_remuxed": 212,
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+  "last_recv_ns": 1787014952568091000,
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+  "max_raw_queue_items": 1,
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 249419222,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_left_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/14/videos/14_0/cam_right_head_recorder_stats.json b/14/videos/14_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e166323514b8d08d1218380e5ed248f7165a750
--- /dev/null
+++ b/14/videos/14_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 5281987,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 237192978,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/14/videos/14_0/cam_right_wrist_recorder_stats.json b/14/videos/14_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7905d1797c8f098a294ea6e41c63a9b76d08ee30
--- /dev/null
+++ b/14/videos/14_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "last_recv_ns": 1787014952556739524,
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_wrist.mp4",
+  "name": "cam_right_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_wrist.mjpeg.tmp",
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+  "raw_write_error": null,
+  "remux_duration_ns": 191145153,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/0/videos/cam_right_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/14/videos/14_1/cam_left_head_recorder_stats.json b/14/videos/14_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..864998207125d6dc6b59bb4564d6032ddc093fc6
--- /dev/null
+++ b/14/videos/14_1/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/1/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/1/videos/cam_left_head.mjpeg.tmp",
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+  "remux_status": "done",
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+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/14/videos/14_1/cam_left_wrist_recorder_stats.json b/14/videos/14_1/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..451789ef5fa89b3043a6bd61925507c8c1b0a07b
--- /dev/null
+++ b/14/videos/14_1/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "name": "cam_left_wrist",
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+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/14/videos/14_1/cam_right_head_recorder_stats.json b/14/videos/14_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3cf130253dac045e9f93c64a77f1c8d6d023458
--- /dev/null
+++ b/14/videos/14_1/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/15/segments/1/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
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+  "timestamp_past_warning_count": 0,
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+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/14/videos/14_1/cam_right_wrist_recorder_stats.json b/14/videos/14_1/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e22b8039043ab531f9ffd0c2ba8c42c06a0dcb0
--- /dev/null
+++ b/14/videos/14_1/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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diff --git a/14/videos/14_2/cam_left_head_recorder_stats.json b/14/videos/14_2/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b2141733bb7bbd034592067e83dbeea7446286
--- /dev/null
+++ b/14/videos/14_2/cam_left_head_recorder_stats.json
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diff --git a/14/videos/14_2/cam_left_wrist_recorder_stats.json b/14/videos/14_2/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbef99edbe9819baba4ddb8b01b7e151b081dfe4
--- /dev/null
+++ b/14/videos/14_2/cam_left_wrist_recorder_stats.json
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diff --git a/14/videos/14_2/cam_right_head_recorder_stats.json b/14/videos/14_2/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef393388ba85c2ed8052c7bdc6240ae658ce8bc
--- /dev/null
+++ b/14/videos/14_2/cam_right_head_recorder_stats.json
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diff --git a/14/videos/14_2/cam_right_wrist_recorder_stats.json b/14/videos/14_2/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0028359a1f2f394d864e1c6df061f246358392
--- /dev/null
+++ b/14/videos/14_2/cam_right_wrist_recorder_stats.json
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diff --git a/14/videos/14_3/cam_left_head_recorder_stats.json b/14/videos/14_3/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7f7e228407ceece91d23b9a8ddf38ef817d987
--- /dev/null
+++ b/14/videos/14_3/cam_left_head_recorder_stats.json
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+}
diff --git a/14/videos/14_3/cam_left_wrist_recorder_stats.json b/14/videos/14_3/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..440254b07f0ad540a5b5f8470ad884ab47afccdf
--- /dev/null
+++ b/14/videos/14_3/cam_left_wrist_recorder_stats.json
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diff --git a/14/videos/14_3/cam_right_head_recorder_stats.json b/14/videos/14_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f292c6c8063d1278c3e0a9f8d66128a2928eb6
--- /dev/null
+++ b/14/videos/14_3/cam_right_head_recorder_stats.json
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diff --git a/14/videos/14_3/cam_right_wrist_recorder_stats.json b/14/videos/14_3/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17f3bb055255fb213482b49e73496cb68243824
--- /dev/null
+++ b/14/videos/14_3/cam_right_wrist_recorder_stats.json
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diff --git a/20/camera_info/cam_left_head.yaml b/20/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e369d56cc2749f76bf7b8747e0ca0d5abc848bd8
--- /dev/null
+++ b/20/camera_info/cam_left_head.yaml
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+header:
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diff --git a/20/camera_info/cam_left_wrist.yaml b/20/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4befa143317d0cb4bb2298e2af629d81f45335ed
--- /dev/null
+++ b/20/camera_info/cam_left_wrist.yaml
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+header:
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+- 0.00040977270691655576
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+- 217.81771850585938
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+- 120.03814697265625
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+- 1.0
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+- 217.81771850585938
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+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/20/camera_info/cam_right_head.yaml b/20/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..53a36b0abc4d230caf5447f051a614c144638eb0
--- /dev/null
+++ b/20/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787015991
+    nanosec: 572285899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
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+- 364.6078186035156
+- 185.6189727783203
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+- 0.0
+- 1.0
+r:
+- 1.0
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+- 1.0
+- 0.0
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+p:
+- 364.6078186035156
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+- 335.171875
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+- 364.6078186035156
+- 185.6189727783203
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+binning_x: 0
+binning_y: 0
+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/20/camera_info/cam_right_wrist.yaml b/20/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f4388e4ad0906908a66f1ac5c81f8316add376d6
--- /dev/null
+++ b/20/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787015991
+    nanosec: 545050781
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
+- -0.020335007458925247
+k:
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+- 217.2623748779297
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/20/camera_info/camera_metadata.yaml b/20/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/20/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/20/videos/20_0/cam_left_head_recorder_stats.json b/20/videos/20_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b64e5a85100991bd90c447b26bd02d291afc5439
--- /dev/null
+++ b/20/videos/20_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "first_recv_ns": 1787015985393316256,
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+  "frames_received": 186,
+  "frames_remuxed": 186,
+  "frames_written": 186,
+  "last_recv_ns": 1787015991566238517,
+  "max_callback_queue_bytes": 74624,
+  "max_callback_queue_items": 1,
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+  "max_header_ahead_ns": 0,
+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 2013855,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 74624,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9133583,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 241250746,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/20/videos/20_0/cam_left_wrist_recorder_stats.json b/20/videos/20_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..458d7193ef3634ff5ca77de1f872d90980cea8d4
--- /dev/null
+++ b/20/videos/20_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "frames_received": 186,
+  "frames_remuxed": 186,
+  "frames_written": 186,
+  "last_recv_ns": 1787015991562316856,
+  "max_callback_queue_bytes": 28208,
+  "max_callback_queue_items": 1,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 5886395,
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+  "max_raw_queue_bytes": 28208,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 8057469,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 211284074,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_left_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/20/videos/20_0/cam_right_head_recorder_stats.json b/20/videos/20_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca7b0c42503dfc273a6a867176bd1b96c8fc4f0
--- /dev/null
+++ b/20/videos/20_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "frames_received": 185,
+  "frames_remuxed": 185,
+  "frames_written": 185,
+  "last_recv_ns": 1787015991568910495,
+  "max_callback_queue_bytes": 74002,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1430070,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 74002,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 7239537,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 195493932,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/20/videos/20_0/cam_right_wrist_recorder_stats.json b/20/videos/20_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf44478f3c82c178624410beee085088cffa583
--- /dev/null
+++ b/20/videos/20_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "frames_written": 187,
+  "last_recv_ns": 1787015991585828614,
+  "max_callback_queue_bytes": 29483,
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_wrist.mp4",
+  "name": "cam_right_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 221300590,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/0/videos/cam_right_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/20/videos/20_1/cam_left_head_recorder_stats.json b/20/videos/20_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9ae075d92ec12ab719cae32bd4e622fdd1d547
--- /dev/null
+++ b/20/videos/20_1/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "last_recv_ns": 1787016000717096139,
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_left_head.mjpeg.tmp",
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+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/20/videos/20_1/cam_left_wrist_recorder_stats.json b/20/videos/20_1/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..25e52b631d34fa0e5a0d36cd09ca68571bd30840
--- /dev/null
+++ b/20/videos/20_1/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_left_wrist.mjpeg.tmp",
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+  "remux_status": "done",
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+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/20/videos/20_1/cam_right_head_recorder_stats.json b/20/videos/20_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f4105937c4fc050e1d32f18315744f782d48c9
--- /dev/null
+++ b/20/videos/20_1/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/21/segments/1/videos/cam_right_head.mjpeg.tmp",
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+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/20/videos/20_1/cam_right_wrist_recorder_stats.json b/20/videos/20_1/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..87380878ca6ac33111d24c5733d6592f3b82767e
--- /dev/null
+++ b/20/videos/20_1/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..eb5a7f321b7f1ee3a00ea1e8abf3f052233ce7a6
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..324b07f05ede5f3d4e5e33a2287aa74aac0916c6
--- /dev/null
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diff --git a/20/videos/20_2/cam_right_head_recorder_stats.json b/20/videos/20_2/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f50e726d9fe9e1170e301b22eeb530351aba592
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..0f278877d23858b05f8f844d22dea8784085504c
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new file mode 100644
index 0000000000000000000000000000000000000000..feac57d7cb18e1d11a458d32f0e7955b652b1a95
--- /dev/null
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diff --git a/20/videos/20_3/cam_left_wrist_recorder_stats.json b/20/videos/20_3/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..15da5091ae0becd6f9ad9b08cf99974211dde737
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diff --git a/20/videos/20_3/cam_right_head_recorder_stats.json b/20/videos/20_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b158501468d9360a7ca9833f94c67e4fd322480b
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diff --git a/20/videos/20_3/cam_right_wrist_recorder_stats.json b/20/videos/20_3/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7b14aeb51ffe1020fe13462b2736c96e94e8ab
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diff --git a/22/camera_info/cam_left_head.yaml b/22/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ad5482bd7ba4a5255f98c8e4961800ef8157f17c
--- /dev/null
+++ b/22/camera_info/cam_left_head.yaml
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+header:
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diff --git a/22/camera_info/cam_left_wrist.yaml b/22/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b913d4312e77d8b0a96b580309c660c6ff551e00
--- /dev/null
+++ b/22/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_left_color_optical_frame
+  stamp:
+    sec: 1787016121
+    nanosec: 261244385
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.055807001888751984
+- 0.06341736763715744
+- 1.8616066881804727e-05
+- 0.00040977270691655576
+- -0.02199416421353817
+k:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 217.53515625
+- 120.03814697265625
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
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+- 1.0
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+p:
+- 217.81771850585938
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+- 217.53515625
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/22/camera_info/cam_right_head.yaml b/22/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9b503afcff8c08d4ed2b2509654b6cfca9b003a2
--- /dev/null
+++ b/22/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787016121
+    nanosec: 252161899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
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+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
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+p:
+- 364.6078186035156
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+- 185.6189727783203
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+binning_x: 0
+binning_y: 0
+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/22/camera_info/cam_right_wrist.yaml b/22/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..815db8590a5c735f1b5d5d5fb4ee9f58cdbce2ca
--- /dev/null
+++ b/22/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787016121
+    nanosec: 256416504
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
+- -0.020335007458925247
+k:
+- 217.2623748779297
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+- 212.0091552734375
+- 0.0
+- 216.99351501464844
+- 122.0171127319336
+- 0.0
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+r:
+- 1.0
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+- 0.0
+- 0.0
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+p:
+- 217.2623748779297
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+- 122.0171127319336
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/22/camera_info/camera_metadata.yaml b/22/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/22/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/22/videos/22_0/cam_left_head_recorder_stats.json b/22/videos/22_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2719b65eb14bf774053b39766790c7e53da38534
--- /dev/null
+++ b/22/videos/22_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "last_recv_ns": 1787016121248780052,
+  "max_callback_queue_bytes": 73421,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 1706803,
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+  "max_raw_queue_bytes": 73421,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9541820,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 218914862,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/22/videos/22_0/cam_left_wrist_recorder_stats.json b/22/videos/22_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..799e3ff1d13ff3054a7b85ec341b10ee7930e663
--- /dev/null
+++ b/22/videos/22_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "max_raw_queue_items": 2,
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 204429576,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_left_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/22/videos/22_0/cam_right_head_recorder_stats.json b/22/videos/22_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..177b6df0889d758ea86b25e2708f1a96de5637ce
--- /dev/null
+++ b/22/videos/22_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "max_raw_queue_bytes": 73530,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 7273529,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 248439523,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/22/videos/22_0/cam_right_wrist_recorder_stats.json b/22/videos/22_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8caa6735dd906909145fd2c96482ce6d0ff3d3af
--- /dev/null
+++ b/22/videos/22_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_wrist.mp4",
+  "name": "cam_right_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_wrist.mjpeg.tmp",
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+  "raw_write_error": null,
+  "remux_duration_ns": 217807942,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/0/videos/cam_right_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/22/videos/22_1/cam_left_head_recorder_stats.json b/22/videos/22_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..495223193e9a1fd9587837333c5cd441aea0ef5e
--- /dev/null
+++ b/22/videos/22_1/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_left_head.mjpeg.tmp",
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+  "remux_status": "done",
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+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/22/videos/22_1/cam_left_wrist_recorder_stats.json b/22/videos/22_1/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..384317eedc4c480a93eaa9ed6902b51663950929
--- /dev/null
+++ b/22/videos/22_1/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_left_wrist.mjpeg.tmp",
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+  "remux_status": "done",
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+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/22/videos/22_1/cam_right_head_recorder_stats.json b/22/videos/22_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8df0dcec6e99159291e55c0e1d63bad3947e93c
--- /dev/null
+++ b/22/videos/22_1/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/23/segments/1/videos/cam_right_head.mjpeg.tmp",
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+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/22/videos/22_1/cam_right_wrist_recorder_stats.json b/22/videos/22_1/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b03029ee266e912c7934554ea714f1454701830
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new file mode 100644
index 0000000000000000000000000000000000000000..4aaf5e7caddc9d5554b3e26e7600fe0bc066def6
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..a50ba3604b6a775935b9dbca3b33850559fcb947
--- /dev/null
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diff --git a/22/videos/22_2/cam_right_head_recorder_stats.json b/22/videos/22_2/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..69fd9cb74289c7f57b87ecd0ed9affce0a78858b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..c2487446cbfc143826598bf2c1828105584931c1
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new file mode 100644
index 0000000000000000000000000000000000000000..b4a22272fd85af88e6698a777adab0847cc5d0b8
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new file mode 100644
index 0000000000000000000000000000000000000000..a0d4f421aaedbffbe21a7a74f5e1bbc0ea7b7e46
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diff --git a/22/videos/22_3/cam_right_head_recorder_stats.json b/22/videos/22_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..993cbd5638644688c403213c630d5666514587a3
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new file mode 100644
index 0000000000000000000000000000000000000000..18d172c9c64f254589a2d27db947c10ff146a62d
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diff --git a/25/camera_info/cam_left_head.yaml b/25/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..09bb7d1ef0b28136933f8a044afd3a0c2d302f1e
--- /dev/null
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+binning_y: 0
+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/25/camera_info/cam_left_wrist.yaml b/25/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a264166bf371817634f87ee9916b7e0fe46bafa
--- /dev/null
+++ b/25/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_left_color_optical_frame
+  stamp:
+    sec: 1787016532
+    nanosec: 335084229
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.055807001888751984
+- 0.06341736763715744
+- 1.8616066881804727e-05
+- 0.00040977270691655576
+- -0.02199416421353817
+k:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 217.53515625
+- 120.03814697265625
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 217.81771850585938
+- 0.0
+- 211.0225830078125
+- 0.0
+- 0.0
+- 217.53515625
+- 120.03814697265625
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+binning_x: 0
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/25/camera_info/cam_right_head.yaml b/25/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..63b0e390cb37e21863ec33f28dbb0e08afededf5
--- /dev/null
+++ b/25/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787016532
+    nanosec: 359180899
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- 0.0
+- 364.6078186035156
+- 185.6189727783203
+- 0.0
+- 0.0
+- 1.0
+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 364.6078186035156
+- 0.0
+- 335.171875
+- -22.995315551757812
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+- 364.6078186035156
+- 185.6189727783203
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+binning_x: 0
+binning_y: 0
+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/25/camera_info/cam_right_wrist.yaml b/25/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3ba896698e3e70d2d0d90330b4a080121eecf205
--- /dev/null
+++ b/25/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787016532
+    nanosec: 363902832
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
+- -0.020335007458925247
+k:
+- 217.2623748779297
+- 0.0
+- 212.0091552734375
+- 0.0
+- 216.99351501464844
+- 122.0171127319336
+- 0.0
+- 0.0
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+r:
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+- 1.0
+p:
+- 217.2623748779297
+- 0.0
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+- 0.0
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+- 216.99351501464844
+- 122.0171127319336
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+binning_x: 0
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/25/camera_info/camera_metadata.yaml b/25/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/25/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/25/videos/25_0/cam_left_head_recorder_stats.json b/25/videos/25_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c795bcd882d8b5cc64c03af93b0e62f8935391
--- /dev/null
+++ b/25/videos/25_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "first_recv_ns": 1787016525416704197,
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+  "frames_written": 209,
+  "last_recv_ns": 1787016532358907017,
+  "max_callback_queue_bytes": 73505,
+  "max_callback_queue_items": 1,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 3862584,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 73505,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9459063,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 257542247,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/25/videos/25_0/cam_left_wrist_recorder_stats.json b/25/videos/25_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e4c141b98ecfb6fdb96a79f1c3537affa97f7e
--- /dev/null
+++ b/25/videos/25_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "frames_received": 210,
+  "frames_remuxed": 210,
+  "frames_written": 210,
+  "last_recv_ns": 1787016532378360996,
+  "max_callback_queue_bytes": 28690,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 3573489,
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+  "max_raw_queue_bytes": 28690,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 10004324,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 247992593,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_left_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/25/videos/25_0/cam_right_head_recorder_stats.json b/25/videos/25_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b391c542a3147e07889fdc4061886f1f075d218
--- /dev/null
+++ b/25/videos/25_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "last_recv_ns": 1787016532366349651,
+  "max_callback_queue_bytes": 73472,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 7705711,
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+  "max_raw_queue_bytes": 73472,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 7051457,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 232342961,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/25/videos/25_0/cam_right_wrist_recorder_stats.json b/25/videos/25_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cc658d128e968ab3ba55ae1501b986b1abbae0
--- /dev/null
+++ b/25/videos/25_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "frames_written": 210,
+  "last_recv_ns": 1787016532377840953,
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_wrist.mp4",
+  "name": "cam_right_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 229850328,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/0/videos/cam_right_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
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+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/25/videos/25_1/cam_left_head_recorder_stats.json b/25/videos/25_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd563b7e1c3604751f89786a267f856f55b2b52
--- /dev/null
+++ b/25/videos/25_1/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "max_raw_queue_items": 1,
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_head.mjpeg.tmp",
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+  "remux_duration_ns": 325955999,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_head_timestamps.parquet",
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/25/videos/25_1/cam_left_wrist_recorder_stats.json b/25/videos/25_1/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1ffab0781938a2e8e684ca1aeb42c91b82a9897
--- /dev/null
+++ b/25/videos/25_1/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_wrist.mjpeg.tmp",
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+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_left_wrist_timestamps.parquet",
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/25/videos/25_1/cam_right_head_recorder_stats.json b/25/videos/25_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40198a1cd6ccdb090c55dc0dc0de5bd514152a6
--- /dev/null
+++ b/25/videos/25_1/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/26/segments/1/videos/cam_right_head.mjpeg.tmp",
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diff --git a/25/videos/25_1/cam_right_wrist_recorder_stats.json b/25/videos/25_1/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c16f27eeca083e8650befbfa488792968acee2
--- /dev/null
+++ b/25/videos/25_1/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..652ed87370b8740382795e508d31a98f8a9bde0d
--- /dev/null
+++ b/25/videos/25_2/cam_left_head_recorder_stats.json
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new file mode 100644
index 0000000000000000000000000000000000000000..c5c56836b8b5ce0ff89e646d791c2f4222a893dd
--- /dev/null
+++ b/25/videos/25_2/cam_left_wrist_recorder_stats.json
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diff --git a/25/videos/25_2/cam_right_head_recorder_stats.json b/25/videos/25_2/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4073279957096a1e507a09cfe9faeaf434c284a
--- /dev/null
+++ b/25/videos/25_2/cam_right_head_recorder_stats.json
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diff --git a/25/videos/25_2/cam_right_wrist_recorder_stats.json b/25/videos/25_2/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f02dbddfd51d205cac81a3de2141982a6c48ed
--- /dev/null
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diff --git a/25/videos/25_3/cam_left_head_recorder_stats.json b/25/videos/25_3/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a245b32ea2b92c78152d4f8d63876c6ec37df0
--- /dev/null
+++ b/25/videos/25_3/cam_left_head_recorder_stats.json
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diff --git a/25/videos/25_3/cam_left_wrist_recorder_stats.json b/25/videos/25_3/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..02fdf1925a8356549323e157c1f09c9bfa5ea84d
--- /dev/null
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diff --git a/25/videos/25_3/cam_right_head_recorder_stats.json b/25/videos/25_3/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..28abeb3318bd089354d01bf56b3351b6f39a0eb2
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diff --git a/25/videos/25_3/cam_right_wrist_recorder_stats.json b/25/videos/25_3/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecad5fa945e433d2f1b3923380553229da744858
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diff --git a/4/camera_info/cam_left_head.yaml b/4/camera_info/cam_left_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d70334b162eeddc37e973b0590c932687e8e1adc
--- /dev/null
+++ b/4/camera_info/cam_left_head.yaml
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+header:
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+- 364.6078186035156
+- 185.6189727783203
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+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/4/camera_info/cam_left_wrist.yaml b/4/camera_info/cam_left_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d31df9a115303bab6bbad0379e4e6918ac2ac0ae
--- /dev/null
+++ b/4/camera_info/cam_left_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_left_color_optical_frame
+  stamp:
+    sec: 1787012620
+    nanosec: 825841064
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.055807001888751984
+- 0.06341736763715744
+- 1.8616066881804727e-05
+- 0.00040977270691655576
+- -0.02199416421353817
+k:
+- 217.81771850585938
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+- 211.0225830078125
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+- 217.53515625
+- 120.03814697265625
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+r:
+- 1.0
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+p:
+- 217.81771850585938
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+- 217.53515625
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+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/4/camera_info/cam_right_head.yaml b/4/camera_info/cam_right_head.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5e453e5d25dc78eb507c28711e0652295d1d9c6c
--- /dev/null
+++ b/4/camera_info/cam_right_head.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1787012620
+    nanosec: 842268377
+height: 376
+width: 672
+distortion_model: plumb_bob
+d:
+- 0.0
+- 0.0
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+k:
+- 364.6078186035156
+- 0.0
+- 335.171875
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+- 364.6078186035156
+- 185.6189727783203
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+r:
+- 1.0
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+p:
+- 364.6078186035156
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+- 185.6189727783203
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+roi:
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/4/camera_info/cam_right_wrist.yaml b/4/camera_info/cam_right_wrist.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce5064ce283d02d9459d115887c25010311f6428
--- /dev/null
+++ b/4/camera_info/cam_right_wrist.yaml
@@ -0,0 +1,55 @@
+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1787012620
+    nanosec: 824456055
+height: 240
+width: 424
+distortion_model: plumb_bob
+d:
+- -0.05417469143867493
+- 0.0605529248714447
+- 0.00016242921992670745
+- 0.0005478920065797865
+- -0.020335007458925247
+k:
+- 217.2623748779297
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+- 122.0171127319336
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+r:
+- 1.0
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+- 217.2623748779297
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+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: false
diff --git a/4/camera_info/camera_metadata.yaml b/4/camera_info/camera_metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693
--- /dev/null
+++ b/4/camera_info/camera_metadata.yaml
@@ -0,0 +1,23 @@
+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info
diff --git a/4/videos/4_0/cam_left_head_recorder_stats.json b/4/videos/4_0/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cab45989f12d66f971770890a436cd9b1341050
--- /dev/null
+++ b/4/videos/4_0/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
+  "callback_queue_bytes_current": 0,
+  "diagnostics_mode": "summary",
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+  "frames_written": 204,
+  "last_recv_ns": 1787012620834457054,
+  "max_callback_queue_bytes": 73793,
+  "max_callback_queue_items": 1,
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+  "max_header_behind_ns": 0,
+  "max_metadata_flush_ns": 3285363,
+  "max_metadata_queue_items": 1,
+  "max_raw_queue_bytes": 73793,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 8005020,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 256959977,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/4/videos/4_0/cam_left_wrist_recorder_stats.json b/4/videos/4_0/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b611b8a7e6d7673961d1b158cff8132b31e019c4
--- /dev/null
+++ b/4/videos/4_0/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "frames_received": 205,
+  "frames_remuxed": 205,
+  "frames_written": 205,
+  "last_recv_ns": 1787012620846935520,
+  "max_callback_queue_bytes": 28927,
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+  "max_header_behind_ns": 0,
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+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9130671,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_wrist.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 241432538,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_left_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/4/videos/4_0/cam_right_head_recorder_stats.json b/4/videos/4_0/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d831a3288ac1b80700c65a64182031f74d4449
--- /dev/null
+++ b/4/videos/4_0/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "last_recv_ns": 1787012620837723793,
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+  "max_metadata_flush_ns": 2518792,
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+  "max_raw_queue_bytes": 74591,
+  "max_raw_queue_items": 1,
+  "max_raw_write_ns": 9524309,
+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_head.mjpeg.tmp",
+  "raw_queue_bytes_current": 0,
+  "raw_write_error": null,
+  "remux_duration_ns": 225544039,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_head_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
+  "soft_metadata_queue_rows": 16384,
+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/right/image_rect_color/compressed"
+}
diff --git a/4/videos/4_0/cam_right_wrist_recorder_stats.json b/4/videos/4_0/cam_right_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0cd3ef5eb814ab48d655371a6b546429402944
--- /dev/null
+++ b/4/videos/4_0/cam_right_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "frames_written": 205,
+  "last_recv_ns": 1787012620831939031,
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_wrist.mp4",
+  "name": "cam_right_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_wrist.mjpeg.tmp",
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+  "raw_write_error": null,
+  "remux_duration_ns": 180555858,
+  "remux_error": null,
+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/0/videos/cam_right_wrist_timestamps.parquet",
+  "soft_callback_queue_bytes": 134217728,
+  "soft_callback_queue_frames": 256,
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+  "soft_raw_queue_bytes": 268435456,
+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
+}
diff --git a/4/videos/4_1/cam_left_head_recorder_stats.json b/4/videos/4_1/cam_left_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..82304cb050d78bbcd1c0dcf29ae01229ed03b18d
--- /dev/null
+++ b/4/videos/4_1/cam_left_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "diagnostics_mode": "summary",
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+  "metadata_error": null,
+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_head.mp4",
+  "name": "cam_left_head",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_head.mjpeg.tmp",
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+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_head_timestamps.parquet",
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+  "soft_raw_queue_frames": 256,
+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/zed/zed_node/left/image_rect_color/compressed"
+}
diff --git a/4/videos/4_1/cam_left_wrist_recorder_stats.json b/4/videos/4_1/cam_left_wrist_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8ffea6f6cf567016a049157f81226845d316ee
--- /dev/null
+++ b/4/videos/4_1/cam_left_wrist_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_wrist.mp4",
+  "name": "cam_left_wrist",
+  "pressure_warning_count": 0,
+  "raw_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_wrist.mjpeg.tmp",
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+  "remux_status": "done",
+  "sidecar_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_left_wrist_timestamps.parquet",
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+  "timestamp_future_warning_count": 0,
+  "timestamp_past_warning_count": 0,
+  "timestamp_warning_count": 0,
+  "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
+}
diff --git a/4/videos/4_1/cam_right_head_recorder_stats.json b/4/videos/4_1/cam_right_head_recorder_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c379aacb2480cc9fefcb9b4fc72482cc344fbb
--- /dev/null
+++ b/4/videos/4_1/cam_right_head_recorder_stats.json
@@ -0,0 +1,43 @@
+{
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+  "mp4_path": "/workspace/rosbag2/Task_1_screwing_MCAP/5/segments/1/videos/cam_right_head.mp4",
+  "name": "cam_right_head",
+  "pressure_warning_count": 0,
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new file mode 100644
index 0000000000000000000000000000000000000000..21fbd8540494786d137a87c4da76e05b5a3147f0
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..14559882d84f1cc828585d5baeedabf1a396eec4
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new file mode 100644
index 0000000000000000000000000000000000000000..1114db4d9df5ae3424f23223fca09a476d31bb36
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new file mode 100644
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