diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/249/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/249/0
new file mode 100644
index 0000000000000000000000000000000000000000..1b32ba21d387a8a6ffa9f9b99e1cafc5676e75e3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/249/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/25/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/25/0
new file mode 100644
index 0000000000000000000000000000000000000000..1c202deec44c661cb5a5f546cae4a1832a4a39ec
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/25/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/250/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/250/0
new file mode 100644
index 0000000000000000000000000000000000000000..ca86c7f2dc3ccccae7bf54abb0656a1d4313c06a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/250/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/251/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/251/0
new file mode 100644
index 0000000000000000000000000000000000000000..460f88f668427eeff256292c10b039575b246333
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/251/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/252/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/252/0
new file mode 100644
index 0000000000000000000000000000000000000000..279bce3deb573302d1191b825dba2b01efb75beb
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/252/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/253/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/253/0
new file mode 100644
index 0000000000000000000000000000000000000000..719da976950e802f08c51923c41e74ff3be1db47
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/253/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/254/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/254/0
new file mode 100644
index 0000000000000000000000000000000000000000..618332cc92409a5eee58955e3249c7d4dc7f8e28
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/254/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/255/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/255/0
new file mode 100644
index 0000000000000000000000000000000000000000..cf73b6bc7d9e98a738eb8936f4bbf507f46b8c91
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/255/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/256/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/256/0
new file mode 100644
index 0000000000000000000000000000000000000000..988740663dce071dcd6a21cf3df095a03afebe77
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/256/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/257/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/257/0
new file mode 100644
index 0000000000000000000000000000000000000000..926cc1b550e2730718493fd092abd7b459f5fa37
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/257/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/258/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/258/0
new file mode 100644
index 0000000000000000000000000000000000000000..251c50b26d45a9429335f5bf371fe9844bdbefea
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/258/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/259/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/259/0
new file mode 100644
index 0000000000000000000000000000000000000000..7a31468e6ae352dc6d3fccc258b0dd52ed0e83ad
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/259/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/26/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/26/0
new file mode 100644
index 0000000000000000000000000000000000000000..40d846553925f20659d1d64d2a8aff667be96fa3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/26/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/260/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/260/0
new file mode 100644
index 0000000000000000000000000000000000000000..4d072fddc3f306f9be5ba0040939c2da34de8a16
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/260/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/261/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/261/0
new file mode 100644
index 0000000000000000000000000000000000000000..fae5f29e374822ef3c933ee21a682f78f93c2289
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/261/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/262/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/262/0
new file mode 100644
index 0000000000000000000000000000000000000000..230574893714fb4973a5280bc4fd5124a66444eb
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/262/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/263/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/263/0
new file mode 100644
index 0000000000000000000000000000000000000000..95594617e8511aa966f877dd6340ec0cafd132d9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/263/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/264/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/264/0
new file mode 100644
index 0000000000000000000000000000000000000000..deb1550096d7d3d1877f4c502b2ebaa9a06c4b95
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/264/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/265/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/265/0
new file mode 100644
index 0000000000000000000000000000000000000000..b22b17469be2e3f4a8cb434ead07c6eac0b9f5b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/265/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/266/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/266/0
new file mode 100644
index 0000000000000000000000000000000000000000..fd34c89127e8f5975e953d511e13ed68a8c68f00
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/266/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/267/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/267/0
new file mode 100644
index 0000000000000000000000000000000000000000..129514f1acb08349628c89c8cfdcfe1c37aa3bba
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/267/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/268/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/268/0
new file mode 100644
index 0000000000000000000000000000000000000000..7b26b22a44be1b50153e7e3e759f89b3571220e2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/268/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/269/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/269/0
new file mode 100644
index 0000000000000000000000000000000000000000..c070ef5faba7870f16f91a953da17d93e3b30309
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/269/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/27/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/27/0
new file mode 100644
index 0000000000000000000000000000000000000000..03f6ae591ae904300e7645a63ed8d1e4aff7d012
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/27/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/270/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/270/0
new file mode 100644
index 0000000000000000000000000000000000000000..94ac6b06ec593c7154e32518beed78a08dbe3c6b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/270/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/271/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/271/0
new file mode 100644
index 0000000000000000000000000000000000000000..1578797188b4413fafb592f7c2097c29ab86b176
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/271/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/272/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/272/0
new file mode 100644
index 0000000000000000000000000000000000000000..b9803e5d9d95f2f22c0d25b6d62ef60edec4cdb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/272/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/273/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/273/0
new file mode 100644
index 0000000000000000000000000000000000000000..ffc007e18e49c8e8089fbd6a54c83beb6bf69fb3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/273/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/274/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/274/0
new file mode 100644
index 0000000000000000000000000000000000000000..ce7b56328e7a792bde51f011d6a1870081e8db88
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/274/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/275/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/275/0
new file mode 100644
index 0000000000000000000000000000000000000000..55bcac3a84af39a4224efb5aa27255716f6f8249
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/275/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/276/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/276/0
new file mode 100644
index 0000000000000000000000000000000000000000..55c75c411d75f495180014b85eaec524ffd8e8b5
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/276/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/277/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/277/0
new file mode 100644
index 0000000000000000000000000000000000000000..8daa5783a832e17f387d8b93417462fc4d3ff8e2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/277/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/278/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/278/0
new file mode 100644
index 0000000000000000000000000000000000000000..ee3c2542f2e0c8cc07bc07065b3e0ec321900479
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/278/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/279/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/279/0
new file mode 100644
index 0000000000000000000000000000000000000000..29312f1a24e92af9f3164864a49245d0af00d880
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/279/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/28/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/28/0
new file mode 100644
index 0000000000000000000000000000000000000000..849ced3d3278dd62219d111fb66f3f7998da2418
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/28/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/280/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/280/0
new file mode 100644
index 0000000000000000000000000000000000000000..b1b08270cd5f9c13bfc91baa68b2e53a2d5f17ab
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/280/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/281/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/281/0
new file mode 100644
index 0000000000000000000000000000000000000000..822b10ff133eed764d732151fee3d67cbc368b51
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/281/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/282/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/282/0
new file mode 100644
index 0000000000000000000000000000000000000000..694b6f8c14ad92dc4d767523eeef5c308788d6d1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/282/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/283/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/283/0
new file mode 100644
index 0000000000000000000000000000000000000000..696da698dea2e45ab66b678b52105a95bf0b2026
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/283/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/284/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/284/0
new file mode 100644
index 0000000000000000000000000000000000000000..f423672cedacccb325f29329eebe4ad6ed8ef897
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/284/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/285/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/285/0
new file mode 100644
index 0000000000000000000000000000000000000000..b779985fd3210343685589577c68913756bf99ae
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/285/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/286/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/286/0
new file mode 100644
index 0000000000000000000000000000000000000000..eb9bfbb89ea648e3ef66946f946af3436e529dcc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/286/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/287/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/287/0
new file mode 100644
index 0000000000000000000000000000000000000000..44f4e526482c720ba56a6e31e75d58cfbbfcaadd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/287/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/288/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/288/0
new file mode 100644
index 0000000000000000000000000000000000000000..cf7a9bd6204af64929f18798a3fe90924b1e1c69
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/288/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/289/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/289/0
new file mode 100644
index 0000000000000000000000000000000000000000..7ad9e4c8890ee5eaa865d9cace4f3800e2d6943e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/289/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/29/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/29/0
new file mode 100644
index 0000000000000000000000000000000000000000..2e1c21fb0568f3642c8be25b98c711be14689bd8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/29/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/290/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/290/0
new file mode 100644
index 0000000000000000000000000000000000000000..9d915e209abfc5e94927af2939fb8f52b956cb6b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/290/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/291/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/291/0
new file mode 100644
index 0000000000000000000000000000000000000000..c9578c07c224e1443a4c74b25f77726c93fc299d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/291/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/292/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/292/0
new file mode 100644
index 0000000000000000000000000000000000000000..d94bf139186a538710489a32d7b24190ad41b356
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/292/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/293/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/293/0
new file mode 100644
index 0000000000000000000000000000000000000000..8e6a4b46008eb121cfcac6000a0ced76082bf668
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/293/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/294/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/294/0
new file mode 100644
index 0000000000000000000000000000000000000000..ca52551f82d2328515da88a81604513463afcee4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/294/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/295/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/295/0
new file mode 100644
index 0000000000000000000000000000000000000000..bacd91d724b148bbe9973c88eb517f2a50acfa10
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/295/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/296/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/296/0
new file mode 100644
index 0000000000000000000000000000000000000000..881334946ac34387aa0602d905f1e54a28aece06
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/296/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/297/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/297/0
new file mode 100644
index 0000000000000000000000000000000000000000..23db590ed0e792b807b61dfe2fdb81879b7ff5e4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/297/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/298/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/298/0
new file mode 100644
index 0000000000000000000000000000000000000000..eed98c98c97608faca41a53fb5d73a20e94f7aae
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/298/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/299/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/299/0
new file mode 100644
index 0000000000000000000000000000000000000000..c527d53559dc92dbb5a429ad730d7587ee46e9b3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/299/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/3/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/3/0
new file mode 100644
index 0000000000000000000000000000000000000000..e9511604a114f04277a0e024e99b18b0fc8e0d0f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/3/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/30/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/30/0
new file mode 100644
index 0000000000000000000000000000000000000000..280345728d054097bee72594dc31f549fcd11346
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/30/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/300/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/300/0
new file mode 100644
index 0000000000000000000000000000000000000000..f7ac94a1d95bad79cdd8f158d09d791df5a3751e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/300/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/301/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/301/0
new file mode 100644
index 0000000000000000000000000000000000000000..b53baf67dcca593924bb265a2f11f0b1ee8ca860
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/301/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/302/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/302/0
new file mode 100644
index 0000000000000000000000000000000000000000..cbad1126a525768a7104f116c57608420089a290
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/302/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/303/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/303/0
new file mode 100644
index 0000000000000000000000000000000000000000..a72f171eff2ebea2e38445ba946c4ce7d9b97589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/303/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/304/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/304/0
new file mode 100644
index 0000000000000000000000000000000000000000..1335c551080817ddc438f91fe9c3fbf0e783e80a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/304/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/305/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/305/0
new file mode 100644
index 0000000000000000000000000000000000000000..6e9bb47bfa04a2979c47a8a8a21766bd06e9a5ab
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/305/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/306/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/306/0
new file mode 100644
index 0000000000000000000000000000000000000000..ee3aa8851c0d357287451d78da3216ba31f20427
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/306/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/307/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/307/0
new file mode 100644
index 0000000000000000000000000000000000000000..2e594d52eb854231f1a33e50a1a1aefdf5b66226
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/307/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/308/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/308/0
new file mode 100644
index 0000000000000000000000000000000000000000..b0dfe1e6ebe28c52ff25c4a713446878942356e8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/308/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/309/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/309/0
new file mode 100644
index 0000000000000000000000000000000000000000..d258f89f43201756463a503e33fd9e8f3bdb31a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/309/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/31/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/31/0
new file mode 100644
index 0000000000000000000000000000000000000000..168be33865ad41e9cb4156198192404a47f36ec9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/31/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/310/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/310/0
new file mode 100644
index 0000000000000000000000000000000000000000..aa9a51b27b16ed39d4004ee183a1385b02679cb1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/310/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/311/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/311/0
new file mode 100644
index 0000000000000000000000000000000000000000..5862c5af0b109d5510d371644928bff624ec1768
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/311/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/312/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/312/0
new file mode 100644
index 0000000000000000000000000000000000000000..a78873b71223aab7a4ff5d7124ca9e758c189187
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/312/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/313/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/313/0
new file mode 100644
index 0000000000000000000000000000000000000000..43768995ba4fe7944ec2de9497b7990525943d07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/313/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/314/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/314/0
new file mode 100644
index 0000000000000000000000000000000000000000..fd7c8cab9ef4d95def85b5365a77db76c6d67138
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/314/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/315/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/315/0
new file mode 100644
index 0000000000000000000000000000000000000000..b6edf2fd6d3a014d9dd78ce9ec865e92752ab461
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/315/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/316/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/316/0
new file mode 100644
index 0000000000000000000000000000000000000000..15ce3d2086f1f31b8563d899aef86cf5dee01d60
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/316/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/317/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/317/0
new file mode 100644
index 0000000000000000000000000000000000000000..79c364e5211dadf267d321085dd8611dcfd0983c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/317/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/318/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/318/0
new file mode 100644
index 0000000000000000000000000000000000000000..0c85473bc3ceac2eab2c05469da6e58dcc0b9b4e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/318/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/319/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/319/0
new file mode 100644
index 0000000000000000000000000000000000000000..990676e827ddc82b47e64ad00850b13bdef5816e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/319/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/32/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/32/0
new file mode 100644
index 0000000000000000000000000000000000000000..d0f6bbc72dc69b186d2ce884d8a0d8fcd5099599
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/32/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/320/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/320/0
new file mode 100644
index 0000000000000000000000000000000000000000..7ca34595d3fe71c5f4840feb999375e5c10dcfb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/320/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/321/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/321/0
new file mode 100644
index 0000000000000000000000000000000000000000..32517bf95a0d08a2e4277ad7316a55958b684cd8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/321/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/322/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/322/0
new file mode 100644
index 0000000000000000000000000000000000000000..3bdf5e9a37e3b14f7c2b9cbc5a8176acdc48a542
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/322/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/323/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/323/0
new file mode 100644
index 0000000000000000000000000000000000000000..7a819571b62922e1eeac97536e39e550c2bd0692
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/323/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/324/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/324/0
new file mode 100644
index 0000000000000000000000000000000000000000..c43b8631e7e29f22d616db7677fe886a7630f928
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/324/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/325/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/325/0
new file mode 100644
index 0000000000000000000000000000000000000000..79a37a6feb0764f77b15e94f2b6217b1cf8ce7a3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/325/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/326/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/326/0
new file mode 100644
index 0000000000000000000000000000000000000000..6b958f3450910d17829763f4091df75275f56ff8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/326/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/327/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/327/0
new file mode 100644
index 0000000000000000000000000000000000000000..77b636760ff93c3b10964dcd4cb214b475e1ba1a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/327/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/328/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/328/0
new file mode 100644
index 0000000000000000000000000000000000000000..dae52290118e696391d56a4625c14b8eeb15d6c0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/328/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/329/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/329/0
new file mode 100644
index 0000000000000000000000000000000000000000..8077332c8303943c17b12b0dab1cc8281af12b16
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/329/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/33/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/33/0
new file mode 100644
index 0000000000000000000000000000000000000000..75707ebd834ab1d844e818a076ba56529a1b3af8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/33/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/330/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/330/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed5c10b93b412de6a88171402530fa3a7fa86ee4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/330/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/331/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/331/0
new file mode 100644
index 0000000000000000000000000000000000000000..3a0b68734c85b342ba3c4d8167f43d0239c9811d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/331/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/332/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/332/0
new file mode 100644
index 0000000000000000000000000000000000000000..33cc3cee42a0f02ce783f130acefd7a2c7c8c19f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/332/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/333/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/333/0
new file mode 100644
index 0000000000000000000000000000000000000000..129b6fe3699cf318416213f006ca369707c0c174
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/333/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/334/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/334/0
new file mode 100644
index 0000000000000000000000000000000000000000..4e03ef490cb38f2fd1932ed1e31b8897407fadac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/334/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/335/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/335/0
new file mode 100644
index 0000000000000000000000000000000000000000..3014295b3f9ee81c749069ec4a8656f65d8223c1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/335/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/336/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/336/0
new file mode 100644
index 0000000000000000000000000000000000000000..f42a2d47ac5f70b23431df0c8ea39c77ab4396b1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/336/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/337/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/337/0
new file mode 100644
index 0000000000000000000000000000000000000000..c669764e8d016c6368cbb15ae81e7a4255b1476e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/337/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/338/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/338/0
new file mode 100644
index 0000000000000000000000000000000000000000..bec4dc29f341ea98e0c267699c13b7853fa24dcd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/338/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/339/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/339/0
new file mode 100644
index 0000000000000000000000000000000000000000..daa90aac520c38c170176a312164bb6f0f57ddc7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/339/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/34/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/34/0
new file mode 100644
index 0000000000000000000000000000000000000000..eb234d2db29019579bf0ccf9fa23032cddd93f14
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/34/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/340/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/340/0
new file mode 100644
index 0000000000000000000000000000000000000000..50fc3f1e31bf9e5acc6571503964190f0c71f2da
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/340/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/341/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/341/0
new file mode 100644
index 0000000000000000000000000000000000000000..1cca319db5952d0f7dc0695d81fc20794a5344a8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/341/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/342/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/342/0
new file mode 100644
index 0000000000000000000000000000000000000000..4a63766ac0af1f3a4bd7cfa3802dabb04106680d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/342/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/343/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/343/0
new file mode 100644
index 0000000000000000000000000000000000000000..dd2dd67fd310809e8743d77173b99ce734669675
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/343/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/344/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/344/0
new file mode 100644
index 0000000000000000000000000000000000000000..7145f639f77f9e5a468a40262cbebe944eaef018
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/344/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/345/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/345/0
new file mode 100644
index 0000000000000000000000000000000000000000..cab7c64b9707ae043a484e82927ca348840f4b36
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/345/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/346/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/346/0
new file mode 100644
index 0000000000000000000000000000000000000000..537c33021da5d13af06dbd5f0062f8453bb50cee
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/346/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/347/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/347/0
new file mode 100644
index 0000000000000000000000000000000000000000..fd16d4c3ab025d909bc1ade0909ee1c2e0a7f527
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/347/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/348/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/348/0
new file mode 100644
index 0000000000000000000000000000000000000000..eddf52e379da3936c8cf4f296515ef62b55d0a29
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/348/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/349/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/349/0
new file mode 100644
index 0000000000000000000000000000000000000000..038e9fbb6688735b85f7eff5b743b80cc0d8ac40
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/349/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/35/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/35/0
new file mode 100644
index 0000000000000000000000000000000000000000..986baa1e947219ed0a434c7128cc23556954dc11
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/35/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/350/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/350/0
new file mode 100644
index 0000000000000000000000000000000000000000..b20443c7c227008fc754a3fea5acf15d4c237221
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/350/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/351/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/351/0
new file mode 100644
index 0000000000000000000000000000000000000000..29fb22b427b43a6c28a27fe13e5bd58217b43114
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/351/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/352/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/352/0
new file mode 100644
index 0000000000000000000000000000000000000000..0ffdf5f8808032b0a22aad85d5d06961deab12ec
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/352/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/353/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/353/0
new file mode 100644
index 0000000000000000000000000000000000000000..1d145efd95074ea83ad3c533e0c42d4c6acb458d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/353/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/354/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/354/0
new file mode 100644
index 0000000000000000000000000000000000000000..a48debc2ca0810c5593e964c3fade1305999d219
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/354/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/355/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/355/0
new file mode 100644
index 0000000000000000000000000000000000000000..6aa56e02c992232abaea9171ef8e039fcf6a96c1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/355/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/356/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/356/0
new file mode 100644
index 0000000000000000000000000000000000000000..056b95c924cf06141d05bbaaa4c5304f3e332bfe
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/356/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/357/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/357/0
new file mode 100644
index 0000000000000000000000000000000000000000..a809888d8d821fd5d4e83481397a51cb1276588c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/357/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/358/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/358/0
new file mode 100644
index 0000000000000000000000000000000000000000..bca62a79c3a927e09f555896accd4bd4d514b879
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/358/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/359/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/359/0
new file mode 100644
index 0000000000000000000000000000000000000000..27082ffa17b479ce9cbbc4993470e5d4a7614af7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/359/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/36/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/36/0
new file mode 100644
index 0000000000000000000000000000000000000000..bb2f3bc8479461d80a7003406e5981f95cc10aa2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/36/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/360/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/360/0
new file mode 100644
index 0000000000000000000000000000000000000000..6afc78cef84e34030de4e1c0f422a5a4273edc6c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/360/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/361/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/361/0
new file mode 100644
index 0000000000000000000000000000000000000000..af2a497946936aa33dcf3e8b26145cf8b900ebdc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/361/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/362/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/362/0
new file mode 100644
index 0000000000000000000000000000000000000000..5ff3c29d19f3ae0f3933b0e721e1621004972c27
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/362/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/363/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/363/0
new file mode 100644
index 0000000000000000000000000000000000000000..5111a11151a05477a517835e6a1fae1e52ce0b3c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/363/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/364/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/364/0
new file mode 100644
index 0000000000000000000000000000000000000000..cbce124ac8ebf2903cc9f8d8357460ea673b9019
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/364/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/365/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/365/0
new file mode 100644
index 0000000000000000000000000000000000000000..154795924a79a3d04843e07b9ec9bc1769b1c4d9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/365/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/366/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/366/0
new file mode 100644
index 0000000000000000000000000000000000000000..493bf771b8274ad06c86c60aa8e2b54cc34d03c2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/366/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/367/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/367/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfdf1563df41a42e7991cff2588862456c8f719a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/367/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/368/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/368/0
new file mode 100644
index 0000000000000000000000000000000000000000..5ff0e0604202cb27d8901bef8356abe9aefeec70
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/368/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/369/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/369/0
new file mode 100644
index 0000000000000000000000000000000000000000..bce83abeb6653c9e6342be810ca8ef7b1998f915
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/369/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/37/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/37/0
new file mode 100644
index 0000000000000000000000000000000000000000..41a82296da2433dbcbb0754a32040adc97c5a463
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/37/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/370/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/370/0
new file mode 100644
index 0000000000000000000000000000000000000000..b6dfe922a01009bd0d182e3269bef61b24981234
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/370/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/371/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/371/0
new file mode 100644
index 0000000000000000000000000000000000000000..f173121d61a31688c4c0192620de40619af371d1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/371/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/372/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/372/0
new file mode 100644
index 0000000000000000000000000000000000000000..b3b6525ef4a6322b0d7b166d8c194602e8c3ee78
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/372/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/373/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/373/0
new file mode 100644
index 0000000000000000000000000000000000000000..35c88d99f46c1c098945c6656ff6004b07201ed1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/373/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/374/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/374/0
new file mode 100644
index 0000000000000000000000000000000000000000..b57931c99d2d430ac820524f2ef889098cd01257
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/374/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/375/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/375/0
new file mode 100644
index 0000000000000000000000000000000000000000..ff44f3ebb25782d7787cd183f2838ce089cc7a34
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/375/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/376/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/376/0
new file mode 100644
index 0000000000000000000000000000000000000000..4caf51550ca337426b5520a456e04603c5eec7cd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/376/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/377/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/377/0
new file mode 100644
index 0000000000000000000000000000000000000000..9b184836406453c243ed0d24d5219d6e188175cb
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/377/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/378/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/378/0
new file mode 100644
index 0000000000000000000000000000000000000000..848c8e44b42991737350adf0464fa93df849434d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/378/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/379/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/379/0
new file mode 100644
index 0000000000000000000000000000000000000000..b159b095a3e4a323b01bab24f80b2c1873f2fdd7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/379/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/38/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/38/0
new file mode 100644
index 0000000000000000000000000000000000000000..20103961e4b3b44003bf3cc48f23581687e732e7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/38/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/380/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/380/0
new file mode 100644
index 0000000000000000000000000000000000000000..c0ac7f2b2a6dc3708204de41c0f48e98b9540668
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/380/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/381/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/381/0
new file mode 100644
index 0000000000000000000000000000000000000000..9f02c7cc94dc6280fe57b8afff5394b32725d9d2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/381/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/382/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/382/0
new file mode 100644
index 0000000000000000000000000000000000000000..6e9e57ee3af9d3c57268bc445db098481523d214
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/382/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/383/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/383/0
new file mode 100644
index 0000000000000000000000000000000000000000..7b932054f6b28a27840b36e75482eff8f79f276d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/383/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/384/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/384/0
new file mode 100644
index 0000000000000000000000000000000000000000..a38fa16d0946977e37d66e64761898150b7eeed4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/384/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/385/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/385/0
new file mode 100644
index 0000000000000000000000000000000000000000..5c51440c8b8be152094559ff16a38d013ab62397
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/385/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/386/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/386/0
new file mode 100644
index 0000000000000000000000000000000000000000..d18d81a6a371f5229aa16d345c750f2f120df910
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/386/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/387/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/387/0
new file mode 100644
index 0000000000000000000000000000000000000000..448899e5ae718c228042f4b2597be3112696a305
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/387/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/388/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/388/0
new file mode 100644
index 0000000000000000000000000000000000000000..e2f8c284ccf84fe1f6b765eb5aee58e88b6b0f01
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/388/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/389/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/389/0
new file mode 100644
index 0000000000000000000000000000000000000000..dedaf0bb17fcdd538434ba9c326aec16bd734ae9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/389/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/39/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/39/0
new file mode 100644
index 0000000000000000000000000000000000000000..e139a9504a2ce58667974d8fb5741df85bcca3d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/39/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/390/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/390/0
new file mode 100644
index 0000000000000000000000000000000000000000..470a7a31b46c8ed90e89b3ae141ff155de016011
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/390/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/391/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/391/0
new file mode 100644
index 0000000000000000000000000000000000000000..59ea2f9ae5381cb84c180dc0039ba0cddf77800a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/391/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/392/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/392/0
new file mode 100644
index 0000000000000000000000000000000000000000..32840a2240862ff8c26abf5bb24748387ca9c1c4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/392/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/393/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/393/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8c4d4c8757dc16537d57d7cb419498a89a300be
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/393/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/394/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/394/0
new file mode 100644
index 0000000000000000000000000000000000000000..70ac322ff47251cce95a441df26a6eb9cf7c4f07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/394/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/395/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/395/0
new file mode 100644
index 0000000000000000000000000000000000000000..a74e269e035b42581a368d65d2740471a97263f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/395/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/396/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/396/0
new file mode 100644
index 0000000000000000000000000000000000000000..77b6a1757fe8bf6d29831bbeb85384a1a4b96543
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/396/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/397/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/397/0
new file mode 100644
index 0000000000000000000000000000000000000000..eb4d42939cb183b20ab8995101a228f6557366d4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/397/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/398/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/398/0
new file mode 100644
index 0000000000000000000000000000000000000000..c0ab84f4b539df5480bedad40c12a24b537b5595
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/398/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/399/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/399/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab49e6e6261e24ae3cc83da761fd2896a8954f32
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/399/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/4/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/4/0
new file mode 100644
index 0000000000000000000000000000000000000000..e9ba7bd67154f39788db656e0ed8f322d0cf34cd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/4/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/40/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/40/0
new file mode 100644
index 0000000000000000000000000000000000000000..5d4e31ab87be30be77975c8e79caa9c7fde16b97
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/40/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/400/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/400/0
new file mode 100644
index 0000000000000000000000000000000000000000..7ebbf3e465e75badd33ccb019d778b96b80b304d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/400/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/401/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/401/0
new file mode 100644
index 0000000000000000000000000000000000000000..e1ae4619301ac41825ef3b780a7900af6b94d133
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/401/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/402/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/402/0
new file mode 100644
index 0000000000000000000000000000000000000000..90385ed12933ac2f8f4f6842cf82e4d376fd1434
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/402/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/403/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/403/0
new file mode 100644
index 0000000000000000000000000000000000000000..30b37dca07f89c897354b81712ea316eb4d9d52e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/403/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/404/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/404/0
new file mode 100644
index 0000000000000000000000000000000000000000..abe5fd1f1d6505a50d1c6484f36f0f7f1510b7f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/404/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/405/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/405/0
new file mode 100644
index 0000000000000000000000000000000000000000..f6ef2dd0b7461528ba56dc48bfe528b25f37b7d9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/405/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/406/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/406/0
new file mode 100644
index 0000000000000000000000000000000000000000..0f1a5b431e3122baabf82105d0b093994b855996
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/406/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/407/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/407/0
new file mode 100644
index 0000000000000000000000000000000000000000..ee43bacc7a2107866b5e6e92027f6dddc9629fc4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/407/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/408/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/408/0
new file mode 100644
index 0000000000000000000000000000000000000000..69ad8731158fae1ebba1ea2df1b1fec6e305c19f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/408/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/409/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/409/0
new file mode 100644
index 0000000000000000000000000000000000000000..e71cfa75c98588e47376bfa4891451630e594065
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/409/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/41/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/41/0
new file mode 100644
index 0000000000000000000000000000000000000000..8c574597636ac10f67e47800e0c1450df351f927
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/41/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/410/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/410/0
new file mode 100644
index 0000000000000000000000000000000000000000..2304b8208ea79c9d96af93fb72d4e9708235abe8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/410/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/411/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/411/0
new file mode 100644
index 0000000000000000000000000000000000000000..ead73b5261ec5af9692719433379316162469ea5
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/411/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/412/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/412/0
new file mode 100644
index 0000000000000000000000000000000000000000..e8d7b3d2b838543c63827257451a4d81b49bfb80
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/412/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/413/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/413/0
new file mode 100644
index 0000000000000000000000000000000000000000..15a2b27b0d4ae81edd579209ac44f4d49c921e4d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/413/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/414/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/414/0
new file mode 100644
index 0000000000000000000000000000000000000000..c05e9ad68882f2995e77a99aa4b913be365e77b7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/414/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/415/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/415/0
new file mode 100644
index 0000000000000000000000000000000000000000..463d6cf3d94e7926ad53baced2ed9aa2171a0534
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/415/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/416/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/416/0
new file mode 100644
index 0000000000000000000000000000000000000000..08167d90eeee71413db9e08e673957b7b9776591
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/416/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/417/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/417/0
new file mode 100644
index 0000000000000000000000000000000000000000..f0e5ed1f5135a956bc98060c09b81dc2930012a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/417/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/418/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/418/0
new file mode 100644
index 0000000000000000000000000000000000000000..5f2c387417f551b9f7c697fe1cf6772a1f7cdef7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/418/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/419/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/419/0
new file mode 100644
index 0000000000000000000000000000000000000000..35072782958ad7cc380540b7c76b0143135c7d3d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/419/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/42/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/42/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe31a516949abc2598cc9872202f334c7dde3d1e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/42/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/420/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/420/0
new file mode 100644
index 0000000000000000000000000000000000000000..802cc02f3d99681f2bbd164b69336ca0837e68d9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/420/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/421/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/421/0
new file mode 100644
index 0000000000000000000000000000000000000000..836ef83a0d26b25d6a71e5e58d49e625cc036dfc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/421/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/422/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/422/0
new file mode 100644
index 0000000000000000000000000000000000000000..f2e0c23bb99f5649d998e401df5ab013f65a95d3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/422/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/423/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/423/0
new file mode 100644
index 0000000000000000000000000000000000000000..b3f3ac1b85910151a0f158dbc8f3fe1439ad5636
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/423/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/424/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/424/0
new file mode 100644
index 0000000000000000000000000000000000000000..25e685a66fa348a416df328bd6310f0f50d18b01
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/424/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/425/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/425/0
new file mode 100644
index 0000000000000000000000000000000000000000..46ebdf36be3c3b47b273db0c9eed5e5d3bbf684e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/425/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/426/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/426/0
new file mode 100644
index 0000000000000000000000000000000000000000..2e7685157387b15c732f839ea40cfa1ad735939e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/426/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/427/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/427/0
new file mode 100644
index 0000000000000000000000000000000000000000..82ac67e2166c31820c5e9047c56b41091a9ff58a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/427/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/428/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/428/0
new file mode 100644
index 0000000000000000000000000000000000000000..f2b8101e887cdc9cc53e76d5078f59a29e29fc50
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/428/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/429/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/429/0
new file mode 100644
index 0000000000000000000000000000000000000000..962e9d7f7be910428bcba32a31176ddc17582beb
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/429/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/43/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/43/0
new file mode 100644
index 0000000000000000000000000000000000000000..1964671a4bdc99a58cfab687b5312cde3e313cff
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/43/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/430/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/430/0
new file mode 100644
index 0000000000000000000000000000000000000000..c69238232073aeb612612adb5f5c1da2ac522dfa
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/430/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/431/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/431/0
new file mode 100644
index 0000000000000000000000000000000000000000..d8987d8ad7c340c7513238f1c7ac4d627a4fa36f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/431/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/432/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/432/0
new file mode 100644
index 0000000000000000000000000000000000000000..0962b09d3192ded30d4708c7f4bd5e37e6909ac6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/432/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/433/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/433/0
new file mode 100644
index 0000000000000000000000000000000000000000..e5be2aa4555f35cc1a1d2758220dbc5de09ed03f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/433/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/434/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/434/0
new file mode 100644
index 0000000000000000000000000000000000000000..1298aa8db1d87da966673af1cdb6f3b4a1291925
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/434/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/435/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/435/0
new file mode 100644
index 0000000000000000000000000000000000000000..9c19d6b0a91d464a68bae4ca2d3a02d637a0456d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/435/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/436/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/436/0
new file mode 100644
index 0000000000000000000000000000000000000000..99c507c7d642311fb38c88d6f73aa3ee4b806d5d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/436/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/437/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/437/0
new file mode 100644
index 0000000000000000000000000000000000000000..1df0b6772c22654449b45b3f9094275258528937
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/437/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/438/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/438/0
new file mode 100644
index 0000000000000000000000000000000000000000..9121e3e4679f7bc5011717b0a5202ba815f2b8d7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/438/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/439/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/439/0
new file mode 100644
index 0000000000000000000000000000000000000000..3c3dde4c102d91e45135f406fa2b21d898c7a886
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/439/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/44/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/44/0
new file mode 100644
index 0000000000000000000000000000000000000000..6cafd6a0a14a0e76cf0f1fec85fae922995996b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/44/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/440/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/440/0
new file mode 100644
index 0000000000000000000000000000000000000000..d730873451bab2a6861265855005e096e06e0fe5
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/440/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/441/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/441/0
new file mode 100644
index 0000000000000000000000000000000000000000..20c678c51a7f2c605d900a13bade4dfc9e4f01ff
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/441/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/442/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/442/0
new file mode 100644
index 0000000000000000000000000000000000000000..754311cc87b12787d1fa317149c570e537fadd0c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/442/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/443/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/443/0
new file mode 100644
index 0000000000000000000000000000000000000000..a3e3982591c9a7aa85b33a7a2171a27f97137335
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/443/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/444/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/444/0
new file mode 100644
index 0000000000000000000000000000000000000000..0ad23814eac6642d9b47f09dd35a36d8b4d61a3b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/444/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/445/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/445/0
new file mode 100644
index 0000000000000000000000000000000000000000..a7dfff932769d80c7e5112fd510a0fec3e18a96f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/445/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/446/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/446/0
new file mode 100644
index 0000000000000000000000000000000000000000..996165bb8857ec0d8e64fa1e72f658beebf5e320
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/446/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/447/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/447/0
new file mode 100644
index 0000000000000000000000000000000000000000..726e7fd8eb57eabfe65608ca2c0503dc5337454d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/447/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/448/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/448/0
new file mode 100644
index 0000000000000000000000000000000000000000..71825f2df87112a9bdcffcc5f18d36edb8fe3d9b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/448/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/449/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/449/0
new file mode 100644
index 0000000000000000000000000000000000000000..dc743a543eaff391914266b5de9db48280b96a90
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/449/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/45/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/45/0
new file mode 100644
index 0000000000000000000000000000000000000000..2ad96a877a05ea8f63b48b708cd909db95245977
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/45/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/450/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/450/0
new file mode 100644
index 0000000000000000000000000000000000000000..896946ba642273534c7e2f6a43a4ade6653e0572
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/450/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/451/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/451/0
new file mode 100644
index 0000000000000000000000000000000000000000..8817fba0ed4bb24e88b8a946e6f138c2e01fc160
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/451/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/452/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/452/0
new file mode 100644
index 0000000000000000000000000000000000000000..4fb8e505d8b87588c651ef2ab57656910bd72ef1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/452/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/453/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/453/0
new file mode 100644
index 0000000000000000000000000000000000000000..5547ab14e260d5d7741b29a1c88eddd31ef5b4e4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/453/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/454/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/454/0
new file mode 100644
index 0000000000000000000000000000000000000000..4be6fca8d94a64d2f1a60662fa03164fe6dbe323
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/454/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/455/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/455/0
new file mode 100644
index 0000000000000000000000000000000000000000..fff6c4787864030e11038b41ea220cce30bcc73f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/455/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/456/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/456/0
new file mode 100644
index 0000000000000000000000000000000000000000..9d22080437c445355b45b2ad6bfc4a2edd907d93
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/456/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/457/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/457/0
new file mode 100644
index 0000000000000000000000000000000000000000..e41ab6a9550beef42e99995b50f547c5ad624d08
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/457/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/458/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/458/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe26c55262c8b6d8b23012f8cd2100b143ca91ba
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/458/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/459/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/459/0
new file mode 100644
index 0000000000000000000000000000000000000000..ce8106d607ff029943f56781c8a29321c452e0ac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/459/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/46/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/46/0
new file mode 100644
index 0000000000000000000000000000000000000000..13d13c8ade81968d1bb3d5de209d1410e8fc97dc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/46/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/460/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/460/0
new file mode 100644
index 0000000000000000000000000000000000000000..5d877f51fa4b28309f7984a507128023eddc9ae2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/460/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/461/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/461/0
new file mode 100644
index 0000000000000000000000000000000000000000..1e8ef207f5364b84b106eb8a6371aec52498b752
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/461/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/462/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/462/0
new file mode 100644
index 0000000000000000000000000000000000000000..cd340d3eb69705da1065ce64f212ce9c8f92f5b5
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/462/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/463/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/463/0
new file mode 100644
index 0000000000000000000000000000000000000000..e82d47d8287499db2c079a1a679bf0086120da71
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/463/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/464/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/464/0
new file mode 100644
index 0000000000000000000000000000000000000000..3194d0d37a67643b09fb288f6c9166ae23b051a6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/464/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/465/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/465/0
new file mode 100644
index 0000000000000000000000000000000000000000..ea12bd473703dc38a19c9ca00b9b93eec0b5f9a5
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/465/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/466/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/466/0
new file mode 100644
index 0000000000000000000000000000000000000000..0400faef24bba450f4ed2773c45ebb07d5446787
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/466/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/467/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/467/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfdeab698f6c5cae2e4fc5d96af4e6024da1e0f7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/467/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/468/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/468/0
new file mode 100644
index 0000000000000000000000000000000000000000..2849d3cc7f96e1c8f1c9be23b71947d9dc1d14be
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/468/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/469/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/469/0
new file mode 100644
index 0000000000000000000000000000000000000000..60ccb054d927432f9b52d6c1df04012bd5e3e6c3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/469/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/47/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/47/0
new file mode 100644
index 0000000000000000000000000000000000000000..20d03971eb3d190ca77299514613899d433e33ec
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/47/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/470/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/470/0
new file mode 100644
index 0000000000000000000000000000000000000000..a099097476ed320242a3773c69166b2860cf7a52
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/470/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/471/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/471/0
new file mode 100644
index 0000000000000000000000000000000000000000..79fa4accc5dba0fd973ca8c1fa707b4c0b6cc556
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/471/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/472/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/472/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8adffabebd6a496f74d6a4acac0dded2ed62dc1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/472/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/473/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/473/0
new file mode 100644
index 0000000000000000000000000000000000000000..0684ef2742197253482c99ab0a62c2bacaef4fac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/473/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/474/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/474/0
new file mode 100644
index 0000000000000000000000000000000000000000..4af306b3d3eab22dcb805af1cd55e8a750e2790e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/474/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/475/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/475/0
new file mode 100644
index 0000000000000000000000000000000000000000..01e6f2dda6efafb4abc6fa2b16ee926fcc1057a7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/475/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/476/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/476/0
new file mode 100644
index 0000000000000000000000000000000000000000..892224544eac044249d692d255f8f5ab454cfcd3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/476/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/477/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/477/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ee582b0d7b10c9def9b3733341d6287b07fbac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/477/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/478/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/478/0
new file mode 100644
index 0000000000000000000000000000000000000000..aa30e8bfa70e3c71c78ce65509392ce3091e47a1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/478/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/479/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/479/0
new file mode 100644
index 0000000000000000000000000000000000000000..7995ac0453da678ead4df7e657dd2d19798ab316
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/479/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/48/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/48/0
new file mode 100644
index 0000000000000000000000000000000000000000..9619514b1023a98c64f0c9206ba6f0382474397a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/48/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/480/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/480/0
new file mode 100644
index 0000000000000000000000000000000000000000..300d296656fcb93bef46cafc9f4203bcefd5506c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/480/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/481/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/481/0
new file mode 100644
index 0000000000000000000000000000000000000000..4c0526ec3d04e7c29530aac03889685b56c448cf
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/481/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/482/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/482/0
new file mode 100644
index 0000000000000000000000000000000000000000..684677efc5d45a448c2bb6dde0cf1e98b26fbaec
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/482/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/483/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/483/0
new file mode 100644
index 0000000000000000000000000000000000000000..2080d7ec223c40118a965e9e6d13ad2eb7b55857
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/483/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/484/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/484/0
new file mode 100644
index 0000000000000000000000000000000000000000..d3fac32616848f3293e6d52947e8758e4a397bac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/484/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/485/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/485/0
new file mode 100644
index 0000000000000000000000000000000000000000..ee2dea193f35c17895d9d1b81cae750896aa5052
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/485/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/486/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/486/0
new file mode 100644
index 0000000000000000000000000000000000000000..1a78626f5f59f3e9f36ac1b56e1e09b043484e12
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/486/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/487/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/487/0
new file mode 100644
index 0000000000000000000000000000000000000000..f368defecbb57a8a30b33ad3d0033424c323cf29
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/487/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/488/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/488/0
new file mode 100644
index 0000000000000000000000000000000000000000..df6885be151c1e8966bf3a065fe87ecaf828d30c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/488/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/489/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/489/0
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba246c4cb5426bc2651df75a0ef1d7ca00512f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/489/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/49/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/49/0
new file mode 100644
index 0000000000000000000000000000000000000000..5b21494146c4deb6081c918f37aa52aa4b05afea
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/49/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/490/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/490/0
new file mode 100644
index 0000000000000000000000000000000000000000..31e03ae3092b1481a0ff7502bdfbe5333caf5be1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/490/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/491/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/491/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8b3dfa14c2ded67a920d9698d136fcf18ad37c9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/491/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/492/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/492/0
new file mode 100644
index 0000000000000000000000000000000000000000..b68106d16698508149ede650d1a7827d1789e748
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/492/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/493/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/493/0
new file mode 100644
index 0000000000000000000000000000000000000000..1bcb178bee35c13ebbb4683461a2d551514e3b23
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/493/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/494/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/494/0
new file mode 100644
index 0000000000000000000000000000000000000000..4c636813f449859cd903204abe4a97b06d92cdca
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/494/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/495/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/495/0
new file mode 100644
index 0000000000000000000000000000000000000000..372f133279186c2c3ca0aab99631782f76930875
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/495/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/496/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/496/0
new file mode 100644
index 0000000000000000000000000000000000000000..4512e02003873a0697768c2e49ca55259b3cf5fb
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/496/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/497/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/497/0
new file mode 100644
index 0000000000000000000000000000000000000000..c8d80e771a47dafcdc6298fd4ec49545234cc28f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/497/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/498/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/498/0
new file mode 100644
index 0000000000000000000000000000000000000000..f59d83f45acc1c6d15d6f7db193eda0b0122ae40
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/498/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/499/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/499/0
new file mode 100644
index 0000000000000000000000000000000000000000..da323d058bf0a8321173147e3b6f6cc959d36222
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/499/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/5/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/5/0
new file mode 100644
index 0000000000000000000000000000000000000000..521a00eee57d5505d203f5c2711dc8f72536ce4e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/5/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/50/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/50/0
new file mode 100644
index 0000000000000000000000000000000000000000..b7a045121c85ab088a5bb58d373597ae77933420
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/50/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/500/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/500/0
new file mode 100644
index 0000000000000000000000000000000000000000..b057883d91b05dfaaa21a63156001028456053dc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/500/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/501/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/501/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed7bab5c942292b30dc6ccc0d51903ce4b8eca99
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/501/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/502/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/502/0
new file mode 100644
index 0000000000000000000000000000000000000000..56e2e40db18b40697afa256d65b8977386a09179
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/502/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/503/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/503/0
new file mode 100644
index 0000000000000000000000000000000000000000..b09e4ea6a057cc33f9301f960c28171dff3bd5c1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/503/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/504/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/504/0
new file mode 100644
index 0000000000000000000000000000000000000000..f92af6312fcedbe16856ea4e2791adf150b05e7f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/504/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/505/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/505/0
new file mode 100644
index 0000000000000000000000000000000000000000..f75a17e3dfa9c8e09e7f6dc89a2968a7431c1252
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/505/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/506/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/506/0
new file mode 100644
index 0000000000000000000000000000000000000000..45c334737b9f311eae41daac41de682a0f4025ed
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/506/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/507/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/507/0
new file mode 100644
index 0000000000000000000000000000000000000000..c7a24ea1b5f406083a3be49a9b930fd279db3730
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/507/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/508/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/508/0
new file mode 100644
index 0000000000000000000000000000000000000000..00fc91ef6be22e42f888aa82caa4332a741d0737
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/508/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/509/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/509/0
new file mode 100644
index 0000000000000000000000000000000000000000..af63f230701dade761222435b697e97148ddd3b3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/509/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/51/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/51/0
new file mode 100644
index 0000000000000000000000000000000000000000..794949016c5357cf74eb572fad2338bebdb58bad
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/51/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/510/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/510/0
new file mode 100644
index 0000000000000000000000000000000000000000..db27ef1cbfca90d528159f50795e31b4315bad00
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/510/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/511/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/511/0
new file mode 100644
index 0000000000000000000000000000000000000000..9674e54830e8b797e975617a6baa70f23c3361fe
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/511/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/512/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/512/0
new file mode 100644
index 0000000000000000000000000000000000000000..adad844f25fa050bb79ea0f13f7b5978fea3c136
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/512/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/513/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/513/0
new file mode 100644
index 0000000000000000000000000000000000000000..d54e1dbc304057d5f155c0201d17ac8a3912857d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/513/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/514/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/514/0
new file mode 100644
index 0000000000000000000000000000000000000000..727507e42c8642f6010074fb4d48234c7997f0b7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/514/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/515/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/515/0
new file mode 100644
index 0000000000000000000000000000000000000000..2d00d6bc137f6695415c2ccbaf76751ac88e598d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/515/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/516/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/516/0
new file mode 100644
index 0000000000000000000000000000000000000000..7df46e2c6fe18f4f7730d602ad9d791fe54619fa
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/516/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/517/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/517/0
new file mode 100644
index 0000000000000000000000000000000000000000..038bec92ff4d173c25b793ff82d64a42cc231a5e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/517/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/518/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/518/0
new file mode 100644
index 0000000000000000000000000000000000000000..6e8244e83a14197cba504327d1bc4f89973bab47
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/518/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/519/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/519/0
new file mode 100644
index 0000000000000000000000000000000000000000..fcebe1da2dd95d246f60f930cf493b89d372b53f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/519/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/52/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/52/0
new file mode 100644
index 0000000000000000000000000000000000000000..76e206bc37908d931a9a3b46c71cb3ba34dfeb9a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/52/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/520/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/520/0
new file mode 100644
index 0000000000000000000000000000000000000000..5d68bde993fe55cd6608aab9721171f77138bf73
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/520/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/521/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/521/0
new file mode 100644
index 0000000000000000000000000000000000000000..6b04c60f811c14cb4376a52067935a862215ab9e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/521/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/522/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/522/0
new file mode 100644
index 0000000000000000000000000000000000000000..e50cf7d210d1b8a283aa680c5e40667b0f0d2626
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/522/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/523/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/523/0
new file mode 100644
index 0000000000000000000000000000000000000000..396a4b7374bb2c9de2a2c9642a87ef2bbeb2a0fd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/523/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/524/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/524/0
new file mode 100644
index 0000000000000000000000000000000000000000..eb9d2eb45c2b6fb85efe10808e5484d1116263ac
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/524/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/525/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/525/0
new file mode 100644
index 0000000000000000000000000000000000000000..833baa116456c9ff64f7a4af879dcbfefdb9f160
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/525/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/526/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/526/0
new file mode 100644
index 0000000000000000000000000000000000000000..020130b22aea1d7542762b28cb91343be33568b9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/526/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/527/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/527/0
new file mode 100644
index 0000000000000000000000000000000000000000..82a58a31dff85c411e704af08f2c5b8923dff850
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/527/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/528/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/528/0
new file mode 100644
index 0000000000000000000000000000000000000000..ab465cc0e975c7d6ced96d8e2164d3d4fafc7d76
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/528/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/529/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/529/0
new file mode 100644
index 0000000000000000000000000000000000000000..774287e0377b136358e5a0f9127434d50977967b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/529/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/53/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/53/0
new file mode 100644
index 0000000000000000000000000000000000000000..4c02c9a912318e6e697324367b27d28d74a9c9c0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/53/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/530/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/530/0
new file mode 100644
index 0000000000000000000000000000000000000000..1b57116390828eb048ac7a76514c80e5279c0158
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/530/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/531/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/531/0
new file mode 100644
index 0000000000000000000000000000000000000000..901733da08bc5037abfabbd537cfce83682a3a89
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/531/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/532/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/532/0
new file mode 100644
index 0000000000000000000000000000000000000000..3a2f86047d4478aeeb4882b9b80a2fbdd826d65c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/532/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/533/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/533/0
new file mode 100644
index 0000000000000000000000000000000000000000..df37a0cf9901256e6f833d8a2df485cb8394756c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/533/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/534/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/534/0
new file mode 100644
index 0000000000000000000000000000000000000000..61015aecf1854cdfc5787b3e9b10563de617e42b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/534/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/535/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/535/0
new file mode 100644
index 0000000000000000000000000000000000000000..2147b78c9871b36e8fdff822aa40936be0161409
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/535/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/536/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/536/0
new file mode 100644
index 0000000000000000000000000000000000000000..d84b9fe1f3ce19355a945e46354319934295d984
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/536/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/537/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/537/0
new file mode 100644
index 0000000000000000000000000000000000000000..dbc94a4dd73257ad5c4f4fb5248602c27bbbe3ee
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/537/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/538/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/538/0
new file mode 100644
index 0000000000000000000000000000000000000000..d6b8b463202fc425aad18168a121f3739ac463f8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/538/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/539/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/539/0
new file mode 100644
index 0000000000000000000000000000000000000000..b7d106326bfd2f16c184971f922c32bd3de3a80d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/539/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/54/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/54/0
new file mode 100644
index 0000000000000000000000000000000000000000..a1775b30127f10cca3e5f68a2981c05fdf4cf13d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/54/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/540/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/540/0
new file mode 100644
index 0000000000000000000000000000000000000000..ec67c4d39a328db1497da10d2e379432a84cb9f7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/540/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/541/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/541/0
new file mode 100644
index 0000000000000000000000000000000000000000..e37b15be8270036c92091a99cc722a674f50d2f0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/541/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/542/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/542/0
new file mode 100644
index 0000000000000000000000000000000000000000..e4e7fe0068aebbb76f3c49a40523afd2bae22373
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/542/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/543/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/543/0
new file mode 100644
index 0000000000000000000000000000000000000000..894181a405330e5ca37a6e423b6444378589e187
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/543/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/544/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/544/0
new file mode 100644
index 0000000000000000000000000000000000000000..18c8b6fceaea1e52b0134a504c531626f6fc14b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/544/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/545/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/545/0
new file mode 100644
index 0000000000000000000000000000000000000000..40e8d3c6518645dbc8c02199f0b045873791e16a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/545/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/546/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/546/0
new file mode 100644
index 0000000000000000000000000000000000000000..4c8deed4b48e06d460db45323d7d21f3f8c2b1fd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/546/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/547/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/547/0
new file mode 100644
index 0000000000000000000000000000000000000000..aefecd746465855e6126d7771d0c55487bf0c388
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/547/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/548/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/548/0
new file mode 100644
index 0000000000000000000000000000000000000000..47470fadde59aef187d487b1696d29ab23ccb604
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/548/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/549/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/549/0
new file mode 100644
index 0000000000000000000000000000000000000000..b4704b8f63a7e97a8b3d774ef0c96cb56ac9d9e3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/549/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/55/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/55/0
new file mode 100644
index 0000000000000000000000000000000000000000..b794a31c8e87d823fd91cceb90904cd2843f24b1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/55/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/550/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/550/0
new file mode 100644
index 0000000000000000000000000000000000000000..583dac8bcec8894bd3fbc2e8874de00fdda0b34a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/550/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/551/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/551/0
new file mode 100644
index 0000000000000000000000000000000000000000..8e05884051d8a3096a97dd0cd4bdfc2154bddf82
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/551/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/552/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/552/0
new file mode 100644
index 0000000000000000000000000000000000000000..c9ef261cece7db72bc3fc407de8b403469a82001
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/552/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/553/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/553/0
new file mode 100644
index 0000000000000000000000000000000000000000..c365a6288b7a3f12122ad1231384601b81326a61
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/553/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/554/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/554/0
new file mode 100644
index 0000000000000000000000000000000000000000..536c514d630956614f381c180e07127f96922497
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/554/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/555/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/555/0
new file mode 100644
index 0000000000000000000000000000000000000000..271a7e77bfdf7f7819192418be07cd9bda7a04d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/555/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/556/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/556/0
new file mode 100644
index 0000000000000000000000000000000000000000..70581716d3c940b484157642395f1dee0a1ca220
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/556/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/557/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/557/0
new file mode 100644
index 0000000000000000000000000000000000000000..9b0be241b5b4b3961fc2974ae1934cbc91a2a4b1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/557/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/558/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/558/0
new file mode 100644
index 0000000000000000000000000000000000000000..0c396dfa9c364b8e9510114ac879b5c1b012198b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/558/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/559/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/559/0
new file mode 100644
index 0000000000000000000000000000000000000000..2efea5f200e502f20ef7d82785a00655d07798d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/559/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/56/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/56/0
new file mode 100644
index 0000000000000000000000000000000000000000..d969aa42d17da1e7806510c618f3d891d22c56bd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/56/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/560/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/560/0
new file mode 100644
index 0000000000000000000000000000000000000000..96703aa30dcc42fdf7be5ca379b4c6d4c7b0899a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/560/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/561/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/561/0
new file mode 100644
index 0000000000000000000000000000000000000000..29ac5f8304cab9a29920630547676e232a1552e7
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/561/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/562/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/562/0
new file mode 100644
index 0000000000000000000000000000000000000000..7ba372aec4ac2ffceb1aca2818d47d4f24626f77
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/562/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/563/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/563/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed51e2529410a7d1bf9a4444333ee4e011b2f558
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/563/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/564/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/564/0
new file mode 100644
index 0000000000000000000000000000000000000000..f2912a4b10bcdcdc715e2f4d941a79006df52e1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/564/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/565/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/565/0
new file mode 100644
index 0000000000000000000000000000000000000000..09d7195c9574f3b010630a9ef1a5f23182283b4f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/565/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/566/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/566/0
new file mode 100644
index 0000000000000000000000000000000000000000..60eec581f44cb5db7d16f4a2fad2f7a14fb1bf34
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/566/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/567/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/567/0
new file mode 100644
index 0000000000000000000000000000000000000000..bb63d22670b6ece7bf13f7d9fb4fa20cb216d807
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/567/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/568/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/568/0
new file mode 100644
index 0000000000000000000000000000000000000000..57cc7109b6f8ab0a2213bca999fd05caf5f0af02
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/568/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/569/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/569/0
new file mode 100644
index 0000000000000000000000000000000000000000..6cb3abe227234776bd7a7c6725d60ca4e8d6c374
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/569/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/57/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/57/0
new file mode 100644
index 0000000000000000000000000000000000000000..5535878ef0c6db11988759bcf9af4bc6c6250f90
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/57/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/570/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/570/0
new file mode 100644
index 0000000000000000000000000000000000000000..e3896b004919305ef55cda703b39597505d34e02
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/570/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/571/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/571/0
new file mode 100644
index 0000000000000000000000000000000000000000..564b65e5487c6e14df64e9f4af6547d2108ebaf0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/571/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/572/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/572/0
new file mode 100644
index 0000000000000000000000000000000000000000..df8ebad76f3620fe46daeec71f668c6136c08021
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/572/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/573/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/573/0
new file mode 100644
index 0000000000000000000000000000000000000000..f60da5976f2d92416718016bcec7b6d606f2a3f9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/573/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/574/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/574/0
new file mode 100644
index 0000000000000000000000000000000000000000..32d5cc188af621a3bcbfd9fd3c146294f2766817
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/574/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/575/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/575/0
new file mode 100644
index 0000000000000000000000000000000000000000..d263b644858927300eaa8449a41f334aa722a765
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/575/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/576/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/576/0
new file mode 100644
index 0000000000000000000000000000000000000000..68f6b88a83e299d5e67afc2b71ed3b219b27d029
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/576/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/577/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/577/0
new file mode 100644
index 0000000000000000000000000000000000000000..0c44a61448c5ae81fa39b0a1354c16666ac2c449
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/577/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/578/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/578/0
new file mode 100644
index 0000000000000000000000000000000000000000..4ed5ad01227bfe222a09103b58a6459310343fc1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/578/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/579/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/579/0
new file mode 100644
index 0000000000000000000000000000000000000000..628ae4e392e9e4c7e02b30a8569ee4f0276df275
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/579/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/58/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/58/0
new file mode 100644
index 0000000000000000000000000000000000000000..76a99889c819319eebdb5e5a8c4b2b78cf9b2d8b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/58/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/580/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/580/0
new file mode 100644
index 0000000000000000000000000000000000000000..f7efb111eed79a86d9fc1376bf634c0bdbbca8b3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/580/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/581/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/581/0
new file mode 100644
index 0000000000000000000000000000000000000000..7a9ad1fd042df62f836d31e452df20c42246c1cd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/581/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/582/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/582/0
new file mode 100644
index 0000000000000000000000000000000000000000..9e2350c284b6e931e8564af3161d4ccfd3162228
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/582/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/583/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/583/0
new file mode 100644
index 0000000000000000000000000000000000000000..7f12a4c41145454106e00e4bea667829f927f6d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/583/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/584/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/584/0
new file mode 100644
index 0000000000000000000000000000000000000000..102753f82cbc5eb0987f915b9946b43896a7c211
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/584/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/585/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/585/0
new file mode 100644
index 0000000000000000000000000000000000000000..53341ae7c3240ed3f7a3af59211edb059db4e3ad
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/585/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/586/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/586/0
new file mode 100644
index 0000000000000000000000000000000000000000..9236ea53fac0450ad8e14ad232b8357ffaced0d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/586/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/587/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/587/0
new file mode 100644
index 0000000000000000000000000000000000000000..5ba593041ebe94d8c92b4ec56ffd31384800d139
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/587/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/588/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/588/0
new file mode 100644
index 0000000000000000000000000000000000000000..434f978522c89ef90d36b8bd007b8d2d6ad7db3b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/588/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/59/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/59/0
new file mode 100644
index 0000000000000000000000000000000000000000..abc9e31c0fe40942f11e594550f2d69d3babb534
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/59/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/6/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/6/0
new file mode 100644
index 0000000000000000000000000000000000000000..4afcf2fa683d5017b2b6c29852ae4e70ca8f4eb9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/6/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/60/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/60/0
new file mode 100644
index 0000000000000000000000000000000000000000..2eff110d7b915c785739ddbadc861c7edd5267f3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/60/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/61/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/61/0
new file mode 100644
index 0000000000000000000000000000000000000000..19f4dd0df4b92d0139821566b6ddfbefbf483c04
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/61/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/62/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/62/0
new file mode 100644
index 0000000000000000000000000000000000000000..8d37b02e51ad921f5bcd52c46af866d5f7594ce2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/62/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/63/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/63/0
new file mode 100644
index 0000000000000000000000000000000000000000..3195f9e1a12cc879a4da02d605f723a042f135fa
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/63/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/64/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/64/0
new file mode 100644
index 0000000000000000000000000000000000000000..ea39739b6bdda79e344a9e8bb40a399f424b1e42
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/64/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/65/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/65/0
new file mode 100644
index 0000000000000000000000000000000000000000..bd52cb4479780c61a2aff6abcd21b0d7157d84bc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/65/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/66/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/66/0
new file mode 100644
index 0000000000000000000000000000000000000000..6099a1374b8cc57d034ae88bcfb057d2af352739
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/66/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/67/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/67/0
new file mode 100644
index 0000000000000000000000000000000000000000..6be436e8a5234242beed1df3740e1cd1cfd1df19
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/67/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/68/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/68/0
new file mode 100644
index 0000000000000000000000000000000000000000..31d8a7f3a93e92e904e2986c6aecc287c32c58f8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/68/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/69/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/69/0
new file mode 100644
index 0000000000000000000000000000000000000000..3634c0a6566203383633f8b8a979555382d8df8e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/69/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/7/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/7/0
new file mode 100644
index 0000000000000000000000000000000000000000..61899399fdcdaad54399dfae73caa2c27387e1ab
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/7/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/70/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/70/0
new file mode 100644
index 0000000000000000000000000000000000000000..e53a5fac018e46d16190e5c08bb9ee49fa396444
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/70/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/71/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/71/0
new file mode 100644
index 0000000000000000000000000000000000000000..fec83c6ae79ce6ef266273164e1c8c832417b354
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/71/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/72/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/72/0
new file mode 100644
index 0000000000000000000000000000000000000000..6dfbcd10e0cdda28b57ea89060b814bda6fde18f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/72/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/73/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/73/0
new file mode 100644
index 0000000000000000000000000000000000000000..168b3e3cf728be01513ca9934046307202d422a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/73/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/74/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/74/0
new file mode 100644
index 0000000000000000000000000000000000000000..b35a3353dd7ad13c3b7fb9742b93c5797700f9cd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/74/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/75/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/75/0
new file mode 100644
index 0000000000000000000000000000000000000000..59d7b49ea4a0d156d2b97517b49bd9085340ecc2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/75/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/76/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/76/0
new file mode 100644
index 0000000000000000000000000000000000000000..6f9b052b779a493ebd6f9d30d724ea8b376cc709
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/76/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/77/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/77/0
new file mode 100644
index 0000000000000000000000000000000000000000..5b222d9032f3494f5ab3758e21a4fe1c8dce3e4a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/77/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/78/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/78/0
new file mode 100644
index 0000000000000000000000000000000000000000..900be05068d006ca9ab603a95b0de673a4022458
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/78/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/79/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/79/0
new file mode 100644
index 0000000000000000000000000000000000000000..99629c79ef2ed8f4c7528e31966eb5d5a7e9ce74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/79/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/8/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/8/0
new file mode 100644
index 0000000000000000000000000000000000000000..545145459b239c7249fe5a14b9de899084cc2c4f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/8/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/80/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/80/0
new file mode 100644
index 0000000000000000000000000000000000000000..44b60862602d91b8a9cb89dc9f388059f4572d9f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/80/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/81/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/81/0
new file mode 100644
index 0000000000000000000000000000000000000000..ace2967f89e19bc6b4fa0cd3a59e264f8447a60f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/81/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/82/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/82/0
new file mode 100644
index 0000000000000000000000000000000000000000..c34785c547694822ba0143b1aed52cd438960203
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/82/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/83/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/83/0
new file mode 100644
index 0000000000000000000000000000000000000000..27f538d71d05bfc04cf1f25bab77aacfbd4fedef
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/83/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/84/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/84/0
new file mode 100644
index 0000000000000000000000000000000000000000..db1cacc6b040f5e41aef78bcce8cb58847ccb57f
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/84/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/85/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/85/0
new file mode 100644
index 0000000000000000000000000000000000000000..0946d90c866ddb98d6dbf4e2242ee23ff66128d0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/85/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/86/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/86/0
new file mode 100644
index 0000000000000000000000000000000000000000..92d192b29f34a1a9ab5de5ba165766bdfa460173
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/86/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/87/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/87/0
new file mode 100644
index 0000000000000000000000000000000000000000..c7a3c91c6ce01c75effccff745e7145639043d28
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/87/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/88/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/88/0
new file mode 100644
index 0000000000000000000000000000000000000000..f732dcb6050570cd63cae97b3d758f91fb541e73
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/88/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/89/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/89/0
new file mode 100644
index 0000000000000000000000000000000000000000..f98d2aa86e5d883f453203f08bdc985054ef2e57
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/89/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/9/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/9/0
new file mode 100644
index 0000000000000000000000000000000000000000..c4630879fb7eda312c1efe4680cc6aff836abe76
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/9/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/90/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/90/0
new file mode 100644
index 0000000000000000000000000000000000000000..179fa5f1a46610555f7402fd3057e92e7d371f01
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/90/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/91/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/91/0
new file mode 100644
index 0000000000000000000000000000000000000000..13f129c3dd97f397e4ffacb490edc2758f881cbf
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/91/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/92/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/92/0
new file mode 100644
index 0000000000000000000000000000000000000000..4eee3e416cab39bb667f680bd9aabc41dc9934b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/92/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/93/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/93/0
new file mode 100644
index 0000000000000000000000000000000000000000..7f554a3938f7beb1501354aebaeac860eeab6a5e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/93/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/94/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/94/0
new file mode 100644
index 0000000000000000000000000000000000000000..45e2d87c40a11dbc1de590c3fcf68f80de871ecd
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/94/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/95/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/95/0
new file mode 100644
index 0000000000000000000000000000000000000000..168a7f8411e41aab5768edbd2a9d8ca3636c3b47
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/95/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/96/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/96/0
new file mode 100644
index 0000000000000000000000000000000000000000..170f520ba9ee621ff8df8c0d350c53a8ffc668d2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/96/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/97/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/97/0
new file mode 100644
index 0000000000000000000000000000000000000000..e9b4209612bd059a29df565aad1d024c04281da1
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/97/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/98/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/98/0
new file mode 100644
index 0000000000000000000000000000000000000000..f539df87f2a6619c8aeba67fd6338dc6bfec99fe
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/98/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/99/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/99/0
new file mode 100644
index 0000000000000000000000000000000000000000..209d946315017b6df74aa89221e9adc1911e85d2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/c/99/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/zarr.json b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/zarr.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd1a526a582f4122a0a1c071a7922b7a6b47551
--- /dev/null
+++ b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_joints/zarr.json
@@ -0,0 +1,43 @@
+{
+  "shape": [
+    7058,
+    6
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        12,
+        6
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/0/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/0/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/1/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/1/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/1/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/10/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/10/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/10/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/100/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/100/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/100/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/101/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/101/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/101/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/102/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/102/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/102/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/103/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/103/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/103/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/104/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/104/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/104/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/105/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/105/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/105/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/106/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/106/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/106/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/107/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/107/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/107/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/108/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/108/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/108/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/109/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/109/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/109/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/11/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/11/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/11/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/110/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/110/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/110/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/111/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/111/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/111/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/112/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/112/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/112/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/113/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/113/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/113/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/114/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/114/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/114/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/115/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/115/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/115/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/116/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/116/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/116/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/117/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/117/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/117/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/118/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/118/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/118/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/119/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/119/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/119/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/12/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/12/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/12/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/120/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/120/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/120/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/121/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/121/0
new file mode 100644
index 0000000000000000000000000000000000000000..601ebdb9c9f0e2fd98de0ba7dc5cff2314f512a9
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/121/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/122/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/122/0
new file mode 100644
index 0000000000000000000000000000000000000000..6689dc0d672b878d53fe2be680aaf50efd2ca1c8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/122/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/123/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/123/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/123/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/124/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/124/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/124/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/125/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/125/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/125/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/126/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/126/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/126/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/127/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/127/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/127/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/128/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/128/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/128/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/129/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/129/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/129/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/13/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/13/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/13/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/130/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/130/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/130/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/131/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/131/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/131/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/132/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/132/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/132/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/133/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/133/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/133/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/134/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/134/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/134/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/135/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/135/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/135/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/136/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/136/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/136/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/137/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/137/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/137/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/138/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/138/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/138/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/139/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/139/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/139/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/14/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/14/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/14/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/140/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/140/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/140/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/141/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/141/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/141/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/142/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/142/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/142/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/143/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/143/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/143/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/144/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/144/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/144/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/145/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/145/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/145/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/146/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/146/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/146/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/147/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/147/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/147/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/148/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/148/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/148/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/149/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/149/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/149/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/15/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/15/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/15/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/150/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/150/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/150/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/151/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/151/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/151/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/152/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/152/0
new file mode 100644
index 0000000000000000000000000000000000000000..256e1be77996724483fcb9eeb368c5149b6e6864
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/152/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/153/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/153/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8c6c0d475eeffac657439513cdb70eeae0b3846
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/153/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/154/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/154/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/154/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/155/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/155/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/155/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/156/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/156/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/156/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/157/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/157/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/157/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/158/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/158/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/158/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/159/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/159/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/159/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/16/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/16/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/16/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/160/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/160/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/160/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/161/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/161/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/161/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/162/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/162/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/162/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/163/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/163/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/163/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/164/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/164/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/164/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/165/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/165/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/165/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/166/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/166/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/166/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/167/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/167/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/167/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/168/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/168/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/168/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/169/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/169/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/169/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/17/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/17/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/17/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/170/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/170/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/170/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/171/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/171/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/171/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/172/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/172/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/172/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/173/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/173/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/173/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/174/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/174/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/174/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/175/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/175/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/175/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/176/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/176/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/176/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/177/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/177/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/177/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/178/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/178/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/178/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/179/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/179/0
new file mode 100644
index 0000000000000000000000000000000000000000..706c650ceb5beda3faf67a2d8903914716549eb6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/179/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/18/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/18/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/18/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/180/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/180/0
new file mode 100644
index 0000000000000000000000000000000000000000..fd2e4a043df3c15e3bbf0a11e9fcb6555d06370c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/180/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/181/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/181/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/181/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/182/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/182/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/182/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/183/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/183/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/183/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/184/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/184/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/184/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/185/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/185/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/185/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/186/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/186/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/186/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/187/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/187/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/187/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/188/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/188/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/188/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/189/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/189/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/189/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/19/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/19/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/19/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/190/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/190/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/190/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/191/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/191/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/191/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/192/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/192/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/192/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/193/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/193/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/193/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/194/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/194/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/194/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/195/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/195/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/195/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/196/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/196/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/196/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/197/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/197/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/197/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/198/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/198/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/198/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/199/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/199/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/199/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/2/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/2/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/2/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/20/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/20/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/20/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/200/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/200/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/200/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/201/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/201/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/201/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/202/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/202/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/202/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/203/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/203/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/203/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/204/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/204/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/204/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/205/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/205/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/205/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/206/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/206/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/206/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/207/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/207/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/207/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/208/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/208/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/208/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/209/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/209/0
new file mode 100644
index 0000000000000000000000000000000000000000..fa98a4b503e438c027a5160fb47f2031b222c964
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/209/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/21/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/21/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/21/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/210/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/210/0
new file mode 100644
index 0000000000000000000000000000000000000000..32df87a7392229c068bc25867eb9cdc4d576c5a4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/210/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/211/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/211/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/211/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/212/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/212/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/212/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/213/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/213/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/213/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/214/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/214/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/214/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/215/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/215/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/215/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/216/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/216/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/216/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/217/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/217/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/217/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/218/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/218/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/218/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/219/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/219/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/219/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/22/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/22/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/22/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/220/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/220/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/220/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/221/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/221/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/221/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/222/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/222/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/222/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/223/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/223/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/223/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/224/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/224/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/224/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/225/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/225/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/225/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/226/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/226/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/226/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/227/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/227/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/227/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/228/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/228/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/228/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/229/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/229/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/229/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/23/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/23/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/23/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/230/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/230/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/230/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/231/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/231/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/231/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/232/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/232/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/232/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/233/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/233/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/233/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/234/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/234/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/234/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/235/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/235/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/235/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/236/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/236/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/236/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/237/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/237/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/237/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/238/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/238/0
new file mode 100644
index 0000000000000000000000000000000000000000..a102ad64faecd091510e960f3bbcaa934d79b6b8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/238/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/239/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/239/0
new file mode 100644
index 0000000000000000000000000000000000000000..ed9d6d92a960c957e4a60349a23306bf1da59c15
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/239/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/24/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/24/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/24/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/240/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/240/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/240/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/241/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/241/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/241/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/242/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/242/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/242/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/243/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/243/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/243/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/244/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/244/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/244/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/245/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/245/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/245/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/246/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/246/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/246/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/247/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/247/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/247/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/248/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/248/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/248/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/249/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/249/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/249/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/25/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/25/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/25/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/250/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/250/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/250/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/251/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/251/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/251/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/252/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/252/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/252/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/253/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/253/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/253/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/254/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/254/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/254/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/255/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/255/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/255/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/256/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/256/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/256/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/257/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/257/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/257/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/258/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/258/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/258/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/259/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/259/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/259/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/26/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/26/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/26/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/260/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/260/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/260/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/261/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/261/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/261/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/262/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/262/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/262/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/263/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/263/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/263/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/264/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/264/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/264/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/265/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/265/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/265/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/266/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/266/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/266/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/267/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/267/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/267/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/268/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/268/0
new file mode 100644
index 0000000000000000000000000000000000000000..d60962a69e4ab7e5a33a6f4b5d04d527473d01f4
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/268/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/269/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/269/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/269/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/27/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/27/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/27/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/270/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/270/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/270/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/271/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/271/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/271/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/272/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/272/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/272/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/273/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/273/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/273/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/274/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/274/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/274/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/275/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/275/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/275/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/276/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/276/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/276/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/277/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/277/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/277/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/278/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/278/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/278/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/279/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/279/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/279/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/28/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/28/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/28/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/280/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/280/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/280/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/281/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/281/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/281/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/282/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/282/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/282/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/283/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/283/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/283/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/284/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/284/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/284/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/285/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/285/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/285/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/286/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/286/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/286/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/287/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/287/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/287/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/288/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/288/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/288/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/289/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/289/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/289/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/29/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/29/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/29/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/290/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/290/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/290/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/291/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/291/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/291/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/292/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/292/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/292/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/293/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/293/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/293/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/294/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/294/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/294/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/295/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/295/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/295/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/296/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/296/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/296/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/297/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/297/0
new file mode 100644
index 0000000000000000000000000000000000000000..2f459b47a145970828284fb375dc10b55f555e7a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/297/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/298/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/298/0
new file mode 100644
index 0000000000000000000000000000000000000000..937a6c18af601036d9a7bc32371afc954f4e3bb2
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/298/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/299/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/299/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/299/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/3/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/3/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/3/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/30/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/30/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/30/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/300/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/300/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/300/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/301/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/301/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/301/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/302/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/302/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/302/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/303/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/303/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/303/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/304/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/304/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/304/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/305/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/305/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/305/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/306/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/306/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/306/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/307/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/307/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/307/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/308/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/308/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/308/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/309/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/309/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/309/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/31/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/31/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/31/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/310/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/310/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/310/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/311/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/311/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/311/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/312/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/312/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/312/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/313/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/313/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/313/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/314/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/314/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/314/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/315/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/315/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/315/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/316/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/316/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/316/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/317/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/317/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/317/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/318/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/318/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/318/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/319/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/319/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/319/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/32/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/32/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/32/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/320/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/320/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/320/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/321/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/321/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/321/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/322/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/322/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/322/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/323/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/323/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/323/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/324/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/324/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/324/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/325/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/325/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/325/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/326/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/326/0
new file mode 100644
index 0000000000000000000000000000000000000000..bfad286b2d89b1a02c7fac05a292c82307e0b500
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/326/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/327/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/327/0
new file mode 100644
index 0000000000000000000000000000000000000000..e3e34cbfd717dc1bb1f4f857e4978e9f7310f984
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/327/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/328/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/328/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/328/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/329/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/329/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/329/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/33/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/33/0
new file mode 100644
index 0000000000000000000000000000000000000000..c4472b90297409379d6630d4a9a1790719c50ec8
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/33/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/330/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/330/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/330/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/331/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/331/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/331/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/332/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/332/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/332/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/333/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/333/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/333/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/334/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/334/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/334/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/335/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/335/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/335/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/336/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/336/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/336/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/337/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/337/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/337/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/338/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/338/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/338/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/339/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/339/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/339/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/34/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/34/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/34/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/340/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/340/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/340/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/341/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/341/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/341/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/342/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/342/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/342/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/343/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/343/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/343/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/344/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/344/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/344/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/345/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/345/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/345/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/346/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/346/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/346/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/347/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/347/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/347/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/348/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/348/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/348/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/349/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/349/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/349/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/35/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/35/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/35/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/350/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/350/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/350/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/351/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/351/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/351/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/352/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/352/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/352/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/353/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/353/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/353/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/354/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/354/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/354/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/355/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/355/0
new file mode 100644
index 0000000000000000000000000000000000000000..109eea548749d6c44659beffd1f88bebb124e2f6
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/355/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/356/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/356/0
new file mode 100644
index 0000000000000000000000000000000000000000..40859f53f70a379795001215a5b13cc46e7ec953
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/356/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/357/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/357/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/357/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/358/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/358/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/358/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/359/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/359/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/359/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/36/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/36/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/36/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/360/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/360/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/360/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/361/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/361/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/361/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/362/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/362/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/362/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/363/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/363/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/363/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/364/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/364/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/364/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/365/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/365/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/365/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/366/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/366/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/366/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/367/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/367/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/367/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/368/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/368/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/368/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/369/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/369/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/369/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/37/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/37/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/37/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/370/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/370/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/370/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/371/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/371/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/371/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/372/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/372/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/372/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/373/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/373/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/373/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/374/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/374/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/374/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/375/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/375/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/375/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/376/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/376/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/376/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/377/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/377/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/377/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/378/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/378/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/378/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/379/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/379/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/379/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/38/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/38/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/38/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/380/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/380/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/380/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/381/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/381/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/381/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/382/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/382/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/382/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/383/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/383/0
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab65837faddafb8bcde23d618d3703caefd61d
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/383/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/384/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/384/0
new file mode 100644
index 0000000000000000000000000000000000000000..21471d86daa3adf107b0dce3138d962118038e27
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/384/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/385/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/385/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/385/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/386/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/386/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/386/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/387/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/387/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/387/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/388/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/388/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/388/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/389/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/389/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/389/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/39/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/39/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/39/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/390/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/390/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/390/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/391/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/391/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/391/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/392/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/392/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/392/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/393/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/393/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/393/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/394/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/394/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/394/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/395/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/395/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/395/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/396/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/396/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/396/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/397/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/397/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/397/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/398/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/398/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/398/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/399/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/399/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/399/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/4/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/4/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/4/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/40/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/40/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/40/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/400/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/400/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/400/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/401/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/401/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/401/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/402/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/402/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/402/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/403/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/403/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/403/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/404/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/404/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/404/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/405/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/405/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/405/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/406/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/406/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/406/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/407/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/407/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/407/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/408/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/408/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/408/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/409/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/409/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/409/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/41/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/41/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/41/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/410/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/410/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/410/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/411/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/411/0
new file mode 100644
index 0000000000000000000000000000000000000000..c6a80873267c79ee01edb6b08542607cacc64589
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/411/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/412/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/412/0
new file mode 100644
index 0000000000000000000000000000000000000000..e854fd560716623db6a1f6f9090443151e3635c3
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/412/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/413/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/413/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/413/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/414/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/414/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/414/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/415/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/415/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/415/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/416/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/416/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/416/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/417/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/417/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/417/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/418/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/418/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/418/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/419/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/419/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/419/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/42/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/42/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/42/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/420/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/420/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/420/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/421/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/421/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/421/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/422/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/422/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/422/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/423/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/423/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/423/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/424/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/424/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/424/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/425/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/425/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/425/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/426/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/426/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/426/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/427/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/427/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/427/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/428/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/428/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/428/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/429/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/429/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/429/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/43/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/43/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/43/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/430/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/430/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/430/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/431/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/431/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/431/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/432/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/432/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/432/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/433/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/433/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/433/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/434/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/434/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/434/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/435/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/435/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/435/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/436/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/436/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/436/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/437/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/437/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/437/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/438/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/438/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/438/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/439/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/439/0
new file mode 100644
index 0000000000000000000000000000000000000000..7813c8c3f12fb05a2fa15c7652eae5a78e91d0a0
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/439/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/44/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/44/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/44/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/440/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/440/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/440/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/441/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/441/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/441/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/442/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/442/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/442/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/443/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/443/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/443/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/444/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/444/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/444/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/445/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/445/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/445/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/446/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/446/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/446/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/447/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/447/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/447/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/448/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/448/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/448/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/449/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/449/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/449/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/45/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/45/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/45/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/450/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/450/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/450/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/451/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/451/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/451/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/452/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/452/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/452/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/453/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/453/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/453/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/454/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/454/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/454/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/455/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/455/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/455/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/456/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/456/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/456/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/457/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/457/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/457/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/458/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/458/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/458/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/459/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/459/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/459/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/46/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/46/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/46/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/460/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/460/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/460/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/461/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/461/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/461/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/462/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/462/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/462/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/463/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/463/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/463/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/464/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/464/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/464/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/465/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/465/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/465/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/466/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/466/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/466/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/467/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/467/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/467/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/468/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/468/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/468/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/469/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/469/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/469/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/47/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/47/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/47/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/470/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/470/0
new file mode 100644
index 0000000000000000000000000000000000000000..7917d833cfaec2db01e68d1771beee250d7f8c46
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/470/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/471/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/471/0
new file mode 100644
index 0000000000000000000000000000000000000000..c4cbbfaf07e0e2db61cf2dcaee0171a7cffac02b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/471/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/472/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/472/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/472/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/473/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/473/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/473/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/474/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/474/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/474/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/475/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/475/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/475/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/476/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/476/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/476/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/477/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/477/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/477/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/478/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/478/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/478/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/479/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/479/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/479/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/48/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/48/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/48/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/480/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/480/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/480/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/481/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/481/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/481/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/482/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/482/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/482/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/483/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/483/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/483/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/484/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/484/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/484/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/485/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/485/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/485/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/486/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/486/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/486/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/487/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/487/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/487/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/488/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/488/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/488/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/489/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/489/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/489/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/49/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/49/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/49/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/490/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/490/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/490/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/491/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/491/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/491/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/492/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/492/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/492/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/493/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/493/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/493/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/494/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/494/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/494/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/495/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/495/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/495/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/496/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/496/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/496/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/497/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/497/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/497/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/498/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/498/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/498/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/499/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/499/0
new file mode 100644
index 0000000000000000000000000000000000000000..56ae9fcf2b64ba29f86a94495d6a69eec4fd3c1b
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/499/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/5/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/5/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/5/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/50/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/50/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/50/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/500/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/500/0
new file mode 100644
index 0000000000000000000000000000000000000000..21b14200e57b7b756268576333511fe932cc0881
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/500/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/501/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/501/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/501/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/502/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/502/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/502/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/503/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/503/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/503/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/504/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/504/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/504/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/505/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/505/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/505/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/506/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/506/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/506/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/507/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/507/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/507/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/508/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/508/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/508/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/509/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/509/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/509/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/51/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/51/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/51/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/510/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/510/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/510/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/511/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/511/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/511/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/512/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/512/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/512/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/513/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/513/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/513/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/514/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/514/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/514/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/515/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/515/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/515/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/516/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/516/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/516/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/517/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/517/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/517/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/518/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/518/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/518/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/519/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/519/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/519/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/52/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/52/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/52/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/520/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/520/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/520/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/521/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/521/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/521/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/522/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/522/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/522/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/523/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/523/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/523/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/524/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/524/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/524/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/525/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/525/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/525/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/526/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/526/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/526/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/527/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/527/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/527/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/528/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/528/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/528/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/529/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/529/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe0310920d78df5cff43481ba44d538cddb9d56a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/529/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/53/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/53/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/53/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/530/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/530/0
new file mode 100644
index 0000000000000000000000000000000000000000..c3b5707b32ba164c5ef31dc85b61056ccd79214a
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/530/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/531/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/531/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/531/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/532/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/532/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/532/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/533/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/533/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/533/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/534/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/534/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/534/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/535/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/535/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/535/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/536/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/536/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/536/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/537/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/537/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/537/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/538/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/538/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/538/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/539/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/539/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/539/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/54/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/54/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/54/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/540/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/540/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/540/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/541/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/541/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/541/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/542/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/542/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/542/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/543/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/543/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/543/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/544/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/544/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/544/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/545/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/545/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/545/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/546/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/546/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/546/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/547/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/547/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/547/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/548/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/548/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/548/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/549/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/549/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/549/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/55/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/55/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/55/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/550/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/550/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/550/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/551/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/551/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/551/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/552/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/552/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/552/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/553/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/553/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/553/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/554/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/554/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/554/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/555/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/555/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/555/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/556/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/556/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/556/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/557/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/557/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/557/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/558/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/558/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/558/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/559/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/559/0
new file mode 100644
index 0000000000000000000000000000000000000000..81ee38319f974964e4239fafa7ac1d01bf10ad07
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/559/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/56/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/56/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/56/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/560/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/560/0
new file mode 100644
index 0000000000000000000000000000000000000000..47a6a9abf47bc35a12557848abcd4516804dcb49
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/560/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/561/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/561/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/561/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/562/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/562/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/562/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/563/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/563/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/563/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/564/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/564/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/564/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/565/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/565/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/565/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/566/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/566/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/566/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/567/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/567/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/567/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/568/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/568/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/568/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/569/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/569/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/569/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/57/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/57/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/57/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/570/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/570/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/570/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/571/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/571/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/571/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/572/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/572/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/572/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/573/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/573/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/573/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/574/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/574/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/574/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/575/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/575/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/575/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/576/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/576/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/576/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/577/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/577/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/577/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/578/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/578/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/578/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/579/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/579/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/579/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/58/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/58/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/58/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/580/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/580/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/580/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/581/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/581/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/581/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/582/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/582/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/582/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/583/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/583/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/583/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/584/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/584/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/584/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/585/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/585/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/585/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/586/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/586/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/586/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/587/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/587/0
new file mode 100644
index 0000000000000000000000000000000000000000..3e057a7062f8ed08bd3255e1c03066240776173e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/587/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/588/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/588/0
new file mode 100644
index 0000000000000000000000000000000000000000..b2ee24b5dd441ebc04dc8c07ee4a4b5dfb39a917
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/588/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/59/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/59/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/59/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/6/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/6/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/6/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/60/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/60/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/60/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/61/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/61/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/61/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/62/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/62/0
new file mode 100644
index 0000000000000000000000000000000000000000..5e60680434c1451d1a1f54bc7399acc4bd4c46cc
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/62/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/63/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/63/0
new file mode 100644
index 0000000000000000000000000000000000000000..fe2b54a6139d10ce655d505eef2aa9a445cb8d4c
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/63/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/64/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/64/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/64/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/65/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/65/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/65/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/66/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/66/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/66/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/67/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/67/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/67/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/68/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/68/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/68/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/69/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/69/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/69/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/7/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/7/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/7/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/70/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/70/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/70/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/71/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/71/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/71/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/72/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/72/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/72/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/73/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/73/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/73/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/74/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/74/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/74/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/75/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/75/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/75/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/76/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/76/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/76/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/77/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/77/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/77/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/78/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/78/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/78/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/79/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/79/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/79/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/8/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/8/0
new file mode 100644
index 0000000000000000000000000000000000000000..f20c16db7845883aaee158fc516efbf844a70c0e
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/8/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/80/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/80/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/80/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/81/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/81/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/81/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/82/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/82/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/82/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/83/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/83/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/83/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/84/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/84/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/84/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/85/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/85/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/85/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/86/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/86/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/86/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/87/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/87/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/87/0 differ
diff --git a/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/88/0 b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/88/0
new file mode 100644
index 0000000000000000000000000000000000000000..fc5eb30c1cd3e1ca02bd4fe40807f9d19f65fd74
Binary files /dev/null and b/raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_obstacle/c/88/0 differ