diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..97f68006a8041738d61f50eeac541c257c1f82bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,75 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/10.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/11.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/12.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/13.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/14.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/15.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/16.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/17.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/18.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/19.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/20.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/21.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/22.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/23.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/4.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/5.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/6.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/7.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/8.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/9.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/10.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/11.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/12.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/13.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/14.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/15.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/16.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/17.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/18.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/19.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/20.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/21.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/22.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/23.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/4.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/5.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/6.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/7.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/8.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/9.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/0.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/1.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/10.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/11.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/12.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/13.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/14.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/15.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/16.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/17.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/18.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/19.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/2.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/20.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/21.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/22.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/23.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/3.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/4.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/5.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/6.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/7.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/8.0.0.0 filter=lfs diff=lfs merge=lfs -text
+coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/9.0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6c86f0f56c7d9440045c7bff8b9120806845dd7d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,36 @@
+---
+license: mit
+task_categories:
+  - robotics
+tags:
+  - oat
+  - robocasa
+  - coffee_press_button
+---
+
+# OAT RoboCasa — coffee dataset + Wave1 logs
+
+Companion to model repo [`hackhackhack66666/Rc-cofee`](https://huggingface.co/hackhackhack66666/Rc-cofee).
+
+## Contents
+
+| Path | Description |
+|------|-------------|
+| `coffee_press_button_N200.zarr/` | Official 50H+150M demos → zarr (Da=12) |
+| `coffee_press_button_N200.zarr/ROBOCASA_SOURCE.txt` | source provenance |
+| `wave1_coffee_press_button/summary_literal5.json` | aggregated baseline + BoN8 |
+| `wave1_coffee_press_button/baseline_seed{10000..10004}/eval_log.json` | Wave1 baseline |
+| `wave1_coffee_press_button/bon_n8_seed{10000..10004}/eval_log.json` | Wave1 BoN N=8 vote |
+
+Videos omitted (eval_log only).
+
+## Place under `oat/`
+
+```bash
+cd oat
+rsync -a coffee_press_button_N200.zarr data/robocasa/
+rsync -a wave1_coffee_press_button/ \
+  output/eval/matched_s10000/robocasa/coffee_press_button/
+```
+
+Full mentee runbook: `oat/AGENT_GUIDE_ROBOCASA_COFFEE_BON16_AWR.md` on branch `robocasa`.
diff --git a/coffee_press_button_N200.zarr/.zgroup b/coffee_press_button_N200.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/ROBOCASA_SOURCE.txt b/coffee_press_button_N200.zarr/ROBOCASA_SOURCE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..917cc8efd8122d964a0cb2d625f2b188849c449d
--- /dev/null
+++ b/coffee_press_button_N200.zarr/ROBOCASA_SOURCE.txt
@@ -0,0 +1,6 @@
+n_human=50
+n_machine=150
+subsample_seed=0
+action_dim=12
+human:data/robocasa/hdf5/CoffeePressButton/human/demo_gentex_im128_randcams.hdf5:n=50:keys=demo_1..demo_54
+mg:data/robocasa/hdf5/CoffeePressButton/mg/demo_gentex_im128_randcams_M150_s0.hdf5:n=150:keys=demo_7..demo_2963
diff --git a/coffee_press_button_N200.zarr/data/.zgroup b/coffee_press_button_N200.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/action/.zarray b/coffee_press_button_N200.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..098fb2015034b82aaaa1998574e62a863a1b0e12
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/action/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        12
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        12
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/action/0.0 b/coffee_press_button_N200.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4c043e16a7cc17e7db6bc15d853a41d8c7ea3770
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/1.0 b/coffee_press_button_N200.zarr/data/action/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..de18c531932a0bcd956462bd4bee66ed1bd4c2e1
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/10.0 b/coffee_press_button_N200.zarr/data/action/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..f14e941877d8c35cfb68a53ac264eab8b21ec88b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/11.0 b/coffee_press_button_N200.zarr/data/action/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..ad7cc0e5490c5da79de362d6ee72279503830464
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/12.0 b/coffee_press_button_N200.zarr/data/action/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..5efbecb48cfe56de1d9dfa957d5613db261219a5
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/13.0 b/coffee_press_button_N200.zarr/data/action/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..77e1e1e1ebcdcaa66712ec4366e24e326bce6990
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/14.0 b/coffee_press_button_N200.zarr/data/action/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..0baabcd27acadbb08be9921caa7f5817ab751fa0
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/15.0 b/coffee_press_button_N200.zarr/data/action/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..f89e11e2c1f1ab7318e041d56b6d59d536b8fe91
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/16.0 b/coffee_press_button_N200.zarr/data/action/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..7eb5d132178f1688d790c7bcf073d29c2b007632
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/17.0 b/coffee_press_button_N200.zarr/data/action/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..c79b24354bcaf5a3b57da938c4a98a598af566dc
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/18.0 b/coffee_press_button_N200.zarr/data/action/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..c807e41f276cc8c4e17fffade661ea402519adbf
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/19.0 b/coffee_press_button_N200.zarr/data/action/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..9d2cc00ce7f123791b7356e165a9e45785f63da7
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/2.0 b/coffee_press_button_N200.zarr/data/action/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..cf7152bc1478626a3a261dfbf033ba3890dbcb92
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/20.0 b/coffee_press_button_N200.zarr/data/action/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..c9612cc4ec5e1507011f29d73969a45fae11badc
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/21.0 b/coffee_press_button_N200.zarr/data/action/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..120e85c07dd8a44c31dbd0fbb14dabdfa6ac0c90
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/22.0 b/coffee_press_button_N200.zarr/data/action/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..4b65efa7c5b85568162e526253054d66c63ce802
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/23.0 b/coffee_press_button_N200.zarr/data/action/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..463df5e84245212645e7c1a3d90a159a20a2f63c
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/3.0 b/coffee_press_button_N200.zarr/data/action/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..29d00f285a5dd9ec009e6f491c399e963e34337e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/4.0 b/coffee_press_button_N200.zarr/data/action/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..fa42df9eeb31443d3c171630b98de0e3ce43e22b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/5.0 b/coffee_press_button_N200.zarr/data/action/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..d5aad8ed8e0661d06654007f0255a6f530d2597a
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/6.0 b/coffee_press_button_N200.zarr/data/action/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..ed0ff201d9d5036f96433ac2af6c375d2af5e032
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/7.0 b/coffee_press_button_N200.zarr/data/action/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..736ed9727dbbf887330622b92027fd63aad23fc8
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/8.0 b/coffee_press_button_N200.zarr/data/action/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..fcc3ee6e201c39dea2342a36a2cfb9b9ed262b44
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/action/9.0 b/coffee_press_button_N200.zarr/data/action/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..338705b8c8c00d42fa2b3e07e723b958641c9b27
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/action/9.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/.zarray b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..21f295191ebe6d2b765c84d2031d43e95670ae24
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        1024,
+        128,
+        128,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        128,
+        128,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/0.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2fe6bd337d5c27deb9f189cb38c447f6cbc46951
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967d9d3dafdcf9527496bdd69dbb0328ddcd9ed5929a3ca667e69a5ae2f8c263
+size 9379519
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/1.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..21592721b6f91c91cb0727caf689d5ac464fce9b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/1.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec49bc37ba54f2c71966ede807d71756e92edb326d021b99fbb89939838e699c
+size 9451672
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/10.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/10.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f81b02f485989e285c70edd1129269e0fbf6999b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/10.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b257135dfdf5ca8b7a23dfb793f5c4c6fa99523ec9400bc129b79ec9d0fcdcb
+size 10101960
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/11.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/11.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..dec116b61ad72892d270adcf05cdd5b0b7168fbf
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/11.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67db04e7da7f27081e078da30cd2130910be2c819f859d2f9adcb42e73b3b5e1
+size 10148116
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/12.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/12.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c1aef4d59dfe905796419ce5b474a2d0b07e5f4e
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/12.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ceded8847ae40bb8a9d22f7eb7b08df4e91d921381cb606413227afeeab5cd4
+size 10461514
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/13.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/13.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..aadcc3e76d54e9896e1fd66fbbcc6304488ba61b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/13.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db232ff73f4b335db19316eb591bb51e9a8b46a93212a7befb2f7de457c09718
+size 9266541
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/14.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/14.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a2aacdb5a0bddf371723f826546a897c7faf3da3
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/14.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78fdda9b9dd585a6e76356ba2a81223a491042e1fdb50fea4d8dc9ded1ce98a9
+size 10033281
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/15.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/15.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..cd561c31f3f957c5c62438588882eb8945ca8eab
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/15.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c62d6b73b45e17bcd42a4e82cb4984dd68de98f6c099c9d519f40d6a46c7360
+size 10737900
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/16.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/16.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4b92d2ec387d7be329a5a6313d3c2bcddee7bf45
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/16.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb2cb87950cbf07b44cade9c3767bb47175afbcfc362d28c04e65fad77cef53
+size 10864194
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/17.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/17.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..eba348290c07f92450cbb8bf96ae29d78329c1a1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/17.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81c5cbbb14e29ebb46645b3ecc79e596816d91ea4908a06f0c476a613da602e
+size 9366657
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/18.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/18.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a7fe59360a5cd18f9a40bdca1cbf724029672930
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/18.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c9ffd225d0440cf4b29c8b637bfbfba9a7c95b3e0403d5420d52796b8b78d9
+size 10035870
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/19.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/19.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bc456cf7b919971648dd61ee621dc42a6cd266e7
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/19.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4c9b082b01f293b34dc286ad6af89110c0b385e94617adde586cf89d15de30
+size 10094615
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/2.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/2.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..73694f81a61b5c3c8bbf15343743e21aeeb66761
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/2.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbe03c254e4a6c1c5b581577b00851607fc0d993db26f6acb8653b06d5f724a
+size 9033031
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/20.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/20.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..aa98ef7fa148b79e9bb4ee45d9390187404f28c0
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/20.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abbf1f5c39910b05c21d5124836473ae00655bc9c279d2238d76220268d62fca
+size 10498354
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/21.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/21.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d949d7ca24e824ab4fe1829f75bd8895764c001d
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/21.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3094a1b9cd47c1935c6ef78f62059def73e4ffdfef163a9e5b63ca420b9757e9
+size 10470145
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/22.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/22.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3b03cc6768fed53c43c27038e2a42477241a25a9
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/22.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437f314a972d72fca2d0f1a608d759bebd22a2e94d991b0aa8984d65fe5b7b92
+size 9773630
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/23.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/23.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..625d9567db93a9065d47d7435ce58b88fbdb99b0
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/23.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12102477a7c90b91ae31ea42dea37d6ff6e41b509377109738e3cddc3da966f3
+size 9496961
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/3.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1e69adb2486c08a3f34733240e670950dd4d2740
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/3.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533c2439d913196f0462e528df10b04c43bbb317dcc6971edffc6fc8ed237b75
+size 9613918
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/4.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/4.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2eb05c268a3ff2d71d9893b8a327aefb7333cff1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/4.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab042b49ca3f14e8ccf9812ed51eb594c2e86d1fcae49b2730da1d21ea1ff84
+size 9777439
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/5.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/5.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5add7ebcd42fb124aa2970c77de663089be7006c
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/5.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3f9547dfab084d20da45fe5c233cec8a24aa3388fedc89e20ffb5391d544bc
+size 9163266
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/6.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9c4a394d03f8848c698a753a9dbe999d6de7b24e
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/6.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ff8729cc5ebc8d5147f68a57bac874b2e362b78d5a7584e7412116bf1ddff2
+size 9999452
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/7.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..da4421abe12d78683c20e2561a106038f611e6a3
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/7.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb66caf30a51b7ee88192c123e53462eed33a2c03fb2161093364ccd3d96de83
+size 10648339
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/8.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/8.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a7ec87d37627e559b2016aea830baa6bd477c9cd
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/8.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7d08ae957b3bb8f545a5152167412161d3f5e8aa3c79e0da0e875467a9bf4e
+size 10921986
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/9.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d903732be6900b248d00ce1bb508b0552e012b57
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_left_rgb/9.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db90fde2175a462d585d56182bc43e540af0c287e09be92f299d92b60d13720
+size 9419302
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/.zarray b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..21f295191ebe6d2b765c84d2031d43e95670ae24
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        1024,
+        128,
+        128,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        128,
+        128,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/0.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..da0222c7ef6930eb91e34b1782e270a6c15d86f1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:137343d31ac8a1db6e40fb589bf685dbf08459512454bc097d88f15e07064b75
+size 9187565
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/1.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..47ced45777fd6b6d99cb9cd0e5a5b2decd30e1c9
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/1.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38dce1bbab0014b91bfd1206e98658b1241c633f9330578859c9afcf8cc1395
+size 9318333
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/10.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/10.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6f9b25d526675e32f3f1665060ab4aa1e6aaed58
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/10.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b2942330bc3868d4403e20e7a5151898238c9fba44f0017f7e0582c0bc4d14
+size 9688612
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/11.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/11.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..49bda3b29b4f24b3554fa7fd9fbc168ab52f61b8
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/11.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c994467f7bbed5befa8653734bf59904b08570a0fa9606a1b86b0bc2d5f80d51
+size 10692799
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/12.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/12.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..be6679e77874300c96a2239ceb123409599eaf1f
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/12.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8e9c5197325208dd07cc34edcc5fc11f32f7dde1b55d9e1acae9b4220f9b8f
+size 11479404
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/13.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/13.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0466dcc85e3cf1ec92c59d21951d2b2d13069c4a
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/13.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4436762cfd25e0abdc4fe92d3d48bdb70cf714f3b5eae995218630413179fb4a
+size 9711392
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/14.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/14.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1ea58c73ca31d200781de614960b13e9d0739d85
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/14.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a570a21482613103fd09ec1cf7210c1e196572da6a6f0d4974064addf942ce0
+size 10358819
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/15.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/15.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6e5c381eb1b27a0d9e8a07f0a55168dea446a267
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/15.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700fc241bb8413fcd4b7ba513c91254f0f6ea94511434d9cbe4c8218aecf7cc2
+size 10232306
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/16.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/16.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ac93d847fe7adcb266345118c7c0e73b98dc54c4
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/16.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa754b7c790c4afd6748f9c8fd74850a10ba25eb9b366f6937ad5265d856314
+size 10511076
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/17.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/17.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..69ee38aea13e593296968855f772bbd99141f12e
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/17.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6803a0d0e078e4f87a7081b4df3fccaab6bda2c9a12e269bd1f195f80a1c14a5
+size 9385712
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/18.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/18.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ea67f9c315905479569a0861af2b369cfb3ef798
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/18.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b23076c9de342b725d70f0a5cc438dae75a39c9e72f15db98e9f0ff7b70034
+size 9783031
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/19.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/19.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2f4bcb9c823440b001fd958870f47da5a448893a
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/19.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e35d5db02534c7e013077e01595342d9e3808ade8826ca0f7e6bdfea45e3602
+size 10465164
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/2.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/2.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e7e28e86b78c55d6c7aa33954b17c29c2b82f02b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/2.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40c10078a3f67ac0180521dd90db24c2e10fa618bed7935560cf2e65d320cb38
+size 8724662
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/20.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/20.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2b3a15d0e4b4dfc2f46c2ad966cdff2da64ee383
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/20.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26fd1362bbc37c5d022f0a0c97154b3367e16c8af99181797e0fb42e59859f08
+size 10598836
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/21.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/21.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..de6ecd8fa620a7c658c6a4e9c3505a38058eb886
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/21.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96779fd1d5c432a4fba981d89e1b29a47bc1be2c653fb66f7e89cb1cc2c19bb7
+size 10373612
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/22.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/22.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2a8b05816b592f4d5de1b1146f0bd840dfd19d0b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/22.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e0f116df5a1143f02125b9758e8ebef3b30639a2a878471b166b1f4a1cbc02
+size 8989176
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/23.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/23.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7344caa53229ef2534e2e312cd3aee82d4bf9fdf
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/23.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d302c533fc9da040e76f54e52e4bb4d41edf4a57f9d5dde9264acc4d1db5e2c9
+size 10276355
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/3.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6717a444eee9b45bc2e51061adaa24900d6c48f3
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/3.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62658dcbfda739a2fc9efd23653d4a5ac158a242e827aaf1cd094e88abb1638c
+size 9446425
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/4.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/4.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ccdbf729f422d2998f30dfc0c99187e06da524bd
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/4.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ca2de8fa1751193c888b87d46a778f9383371802384179237f4685e7b2e7aa
+size 9563920
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/5.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/5.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e91370cf865e19efeed7b8ad300aa0dbdc04d599
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/5.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2086cdd42936a47f6a83ed96b2ac5ec03a6f4472bce09b85daf1fde554bb85
+size 8991387
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/6.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..578deb8e40fee6c0a115968c316c2379cd3f280e
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/6.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9da3817f83da2c0c4631bf1c1593f83b8a715dbd96fa66219ecd47f1655bc1a1
+size 9838695
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/7.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..490777f561caea5d3d96b91be3b77f9f185144cb
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/7.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ddd138ef0380629e02e346fdcd8a5c21796e097dc51429b87ed49b83b62fa1
+size 9805660
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/8.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/8.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e85588b3660f50cd2f13709ed27cee0d5e4d292a
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/8.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b200a495289272bc8dfc7c2a9e395fbc70630e07e147100ab9cb1e7fdec91923
+size 10706220
diff --git a/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/9.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c7b9e7b982fb798c8471af8ae8fdd665d27673fb
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_agentview_right_rgb/9.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20735f6297623b7518eed67e1fbfb098f014ef1451b08ff1cb02df3a40d8dc14
+size 9529719
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/.zarray b/coffee_press_button_N200.zarr/data/robot0_base_pos/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8ff6e2bc0bf132e1136da54ae4ebed9a05bce630
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_base_pos/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/0.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6c70028a93e3fd8e7ee0220ac8c9a75c47796a76
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/1.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..53480b29d9a8c211dc62230c381415e045d0b406
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/10.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..1926f33cf3137c3b7b1fe654e03fc0819c9e1243
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/11.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..acd0a5fb910e20c3fbd894cadb5277e187b3c6a9
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/12.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..dfe9b3c1d1b2b90fbd3c32277645075c19cf95b8
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/13.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..10ac07f95a01f85c6d78143c1fd21b8e8a2a6f9e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/14.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..7059addcadd9cacf8cfbed4f246aef807e697fbe
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/15.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..16f58e51a52c2a2dfe8f72f6a9cf17849a9ae71e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/16.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..6b2323ad0a4815ddda1101e4d40d30830dd919e3
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/17.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..a63bb16efa6d6f47709cdbe50a725749000db4af
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/18.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..d5deb1409ac6570a8d7e7fda5e3d8cf1a31c859b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/19.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..0287f1590ce637ca9272ac091da0253cc4d85ddd
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/2.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..ec71335dc2099cfbdee4f67eb0a308ac6f49e8fb
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/20.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..2feef290c35e59d716ac01c92f1ac9e59111f55b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/21.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..f8f280b44e49832cd8022c40f2560273b6209ec0
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/22.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..3cdacb9fa539c338dad21437427bf28030b1eb57
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/23.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..62b55f3d267c737a0e2e2f971ede527a13b8b357
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/3.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..216f36b2e46d2548caca58195cc13a5c203291e1
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/4.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..3bd6336dcf4b0881608883780f667eea92b13daa
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/5.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..2494c385a82b40c111c9dfa42b0e3c90098bac1d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/6.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..09b4a26080f4bdace01db88d3d944e3c656fef14
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/7.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..470702b546662b7d46a5077d20beab9ccd35bb61
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/8.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..a286a7f176a67fdca134791a05bd8778f1aecee2
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_pos/9.0 b/coffee_press_button_N200.zarr/data/robot0_base_pos/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..28c92362a6e738eedfaf4e5768325e4a58f1afcf
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_pos/9.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/.zarray b/coffee_press_button_N200.zarr/data/robot0_base_quat/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b4286b065e0000ebe0482f380808d8ca612aee68
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_base_quat/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        4
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        4
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/0.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1d4ab750cbab3e830e075c3dd5e509d0b136c8d3
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/1.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..6086542a45a82b2e112406c1db530df1d91d263e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/10.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..51f10345e5b182fc77285eb35173d7fb95efdd0b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/11.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..60916dbf52d56aefb7f03a754e38ba8185ad4d87
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/12.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..c552a01e4fb3eb34f918373a3c54cb7c30baa30d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/13.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..3983917b7b17da99555e1452456b1aa1355c4080
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/14.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..614a76af08b4d3ed1e2f7f3655919b3d3596b7fc
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/15.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..104eca76b1cfb41215a5f695a57b9f5343737f52
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/16.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..b67ebe91b1fd016f5dc529fc134937df4d9994ff
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/17.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..a16a151d5292f3ea8115d03e012f2f0aea362a4e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/18.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..dde8f9690c524b4d5cfb9758617781255731079a
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/19.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..71808448007fb2cc2d23d795e83e9c8b949cdcd9
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/2.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..934eb38a2a13a3f58e057a7a5553353808cd228f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/20.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..83d358576656f5d529592d21fd4f1e7432585159
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/21.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..d8fd50e0f26d19f58eac1b18c752bdebee1c2c7f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/22.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..7603e76e4cd93471db397dc6f641a562d086a89c
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/23.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..35f22349348b3547fce0de7b89e992283e3e88f8
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/3.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..1283515f4cb4cf6cfcb88715b52bde61fc955bee
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/4.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..1cf85bf8e13168f7a6955941526064bf603a12ad
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/5.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..a3849ea0a7128af1c6ac7ea4aee92b2957a97777
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/6.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..020146cbe34645b461298fdbd2ad7f0d129487c1
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/7.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..77a885c925ee67c830a4e9ed9c7942db8fb4b7a3
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/8.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..ae08511c678da026d316ce4f6f1d5c189f241314
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_base_quat/9.0 b/coffee_press_button_N200.zarr/data/robot0_base_quat/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..9958942df65ea22ed7043defea8b21e415e644ec
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_base_quat/9.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/.zarray b/coffee_press_button_N200.zarr/data/robot0_eef_pos/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8ff6e2bc0bf132e1136da54ae4ebed9a05bce630
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eef_pos/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/0.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f92c40d15a9268dfdac13ebb30e6753d32c71c60
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/1.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..68409e88565ebdf76c8c2f649c6bbe8e5e80e21f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/10.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..c0624480b99924427cae42ddb53f1cb9e1ab6abf
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/11.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..990c4b4ff08a82d79b962cf57f14a0e8f60d481b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/12.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..b106beacaeef3e5f439c9ccf96c02d0914736420
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/13.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..5fd105ffb21bae1db01b298923c90cc73c7e616b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/14.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..8bf53dc05bf362b6345fde6364f52781136a1bed
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/15.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..2763bdadb5597de2b59007d8c6e0748bb37d8bad
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/16.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..9bf97536c2fb41b67e88b788c6760d1bf0d45043
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/17.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..cffb13de4f3fb41a470d6a2d58dd9a6b5e9af7b7
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/18.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..8414208627c56e84627905975afe5ba52bcb7d1f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/19.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..b2f8bcd083523d05d637e92179a9bba2889df62f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/2.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..1fec486aeb716060ebba72dbd32b33758f60c46b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/20.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..55874a40d8086a1de0075283e123cd6e4205cdfb
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/21.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9ae45730219dcee4d4a105fac4fe3e788d08b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/22.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..f4c8926ba79398ca79119e53f4736000626a81d8
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/23.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..f36521c08af24ae66593d54fe15b182329a48c80
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/3.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..88a239e7ab2ed235d82fdbdf9baeb47f60242e0a
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/4.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..709894642ba8c05ea2ae27bf6f054bdd79351877
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/5.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..931808f543d1eb8ca2db51d9f59c272d193e445d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/6.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..93fb8fc050446b64961f252cd7bc846b4b18e54d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/7.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..1054e9ae93af86ffe9bf4c8ee1eaef596cf95bd2
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/8.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..adb12ba8d74a82112756359dbe40febf2d8798df
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_pos/9.0 b/coffee_press_button_N200.zarr/data/robot0_eef_pos/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..548ae57ac86126cc622334f94216afdb91194d23
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_pos/9.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/.zarray b/coffee_press_button_N200.zarr/data/robot0_eef_quat/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..b4286b065e0000ebe0482f380808d8ca612aee68
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eef_quat/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        4
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        4
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/0.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e6ca185fc3e23022e2d6c6d530fe8e4678bb9803
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/1.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..cc91a317e093a039030c9e64ecf7905a49080315
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/10.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..cf670d0c60533ac86bca13a9bcb9a5fc3cfabc6b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/11.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..a3cfeb1d448330793a942921b81d99a950ed102a
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/12.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..77cf9e4c6dd39491b4ef6fa533a9a92520b2890e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/13.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..b925d65e8eaebb0ef2a22cf76258cb1efb26c504
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/14.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..49110210240090655622590ad011ba2dea5b0560
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/15.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..e3cbcc9ff7a14afdb1c92b0aab7c8dd850d3ff21
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/16.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..4047fadbd2535d1ccacff623ea416cba4d997ddb
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/17.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..65071fb1d045c2cf24a3b295dd86c378b27b80bb
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/18.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..943b9db6146bccc01243835e1f90f7f8c7dea4ab
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/19.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..64a4ad2dc17988471985cc07c756fd2b683f6cc7
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/2.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..637933ca94f4c6c544005204aa2b5b167238915b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/20.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..f3870126d6e736ed35a0a3c14bd58b853e4a0fb6
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/21.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..19bb4b966c788ca784c5e79cac35108994426725
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/22.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..c84135c2a46d3448d67efecc868c05d1ba9b8337
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/23.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..378cfa590fa69d84fca61e69814590877c42742b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/3.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..c5bf6363c143eefc72cab79cb1ce05fe92e99fc2
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/4.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c3894fc419f852ad8d44df41f1f991a3fc668
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/5.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..6ea4350d1bfba0e0652a58ca637acc6068dd9139
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/6.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..4e7e9be460895337e1804c3aa271722478129db0
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/7.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..8702a5330c8303d2ace2c73c12c260a45dc6b3af
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/8.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..5dfcce4f93bf3ff432ea16b878af7e816b6b0833
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eef_quat/9.0 b/coffee_press_button_N200.zarr/data/robot0_eef_quat/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..01341830e2ac59151acd3decfaf75bd01d52dfb4
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_eef_quat/9.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/.zarray b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..21f295191ebe6d2b765c84d2031d43e95670ae24
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/.zarray
@@ -0,0 +1,27 @@
+{
+    "chunks": [
+        1024,
+        128,
+        128,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        128,
+        128,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/0.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4fa9471d414326710fc124b85d8e40c780c57637
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/0.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f203b18f14c037e0ac15ce0cc79f2ad11063d165b6822d6e225a6bdc8cfa4d
+size 14712752
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/1.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f1b00e3f50ec5da6ce9e8c9080ab0cd853a4f27d
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/1.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50e707deb8527d2e67020b6e732a66bde3f070b15596395f18b562e4f3aab17
+size 12941865
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/10.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/10.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..64beee30f72e9ceb2391bc2d76852bbd5e02445f
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/10.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926808801f3c00181e7cdd4a4bd7b798d88bb64fd5731820bcae90034655f579
+size 16093883
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/11.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/11.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4371fffe95d496b0106dc5dc348890119b5573ce
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/11.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff634f0159c5ada775c7fad110d07643ce00dfeacba7f01ed85e3aa197b9c6a
+size 14818156
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/12.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/12.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5baa9687092c21bcf6d34c114309004a19a25698
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/12.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fff10a463b235d7d3dd70ba746685cc55daafc060a15e13f4d69d59c6447151d
+size 14996355
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/13.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/13.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fc2de6f01290c88562de54abc128b05e190281eb
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/13.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33397c991cb47b5e68f285e2443cafca39701d7e092610df0bbf14f962a97e3f
+size 14115269
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/14.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/14.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..32719b71036642b238560c39c0ed9d88f99d7029
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/14.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38b4f3e1b9f0e35c03c72de563ac4f1699900b871d7b8c4db8dcbec7e7d9bc68
+size 15125192
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/15.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/15.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6c144c72c19c7ce802253f41123de4f78245723b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/15.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83fdfb0aa79159d8091d903e12ef4eb8f2d1f796a79004a5634afb0855d0b72f
+size 15308497
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/16.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/16.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..44d15bc36af4817472176cb40612825e012adec5
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/16.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd0b945226793fa700b86e7da063eeabc9cc552198164dd783b5bb83e0c4a56
+size 16628044
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/17.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/17.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..08f6dc5e38a6cde0926486563c821d04dbcf2358
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/17.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7d20393cd9eb33d8058e19f68f7a0af4a73e9b6ac953279d1c8742c3380093
+size 13813769
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/18.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/18.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..706a233a9dd73118ec210b304110cf4c9812d587
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/18.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d790207488817ebc6acbbd75215c69e93a4856ea9f71b59d2fec324bf1ddda
+size 13597864
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/19.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/19.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7f4bac9993b452086dc02b7f37434d746f71ffd5
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/19.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f737bb34d9ed6ec4d5c5f712bfebe1b9c8e02a400c6e1f84c3c8f3aafd17f4
+size 16257720
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/2.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/2.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..14b7a25b8e84efa9ed2833b2ffee8ab2e787084b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/2.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37570bf91d55f7137ffea0e75ca48efea9083aeb8a9cd846e5aeca2335b64e00
+size 12906486
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/20.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/20.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b035276df360c3f619244f98ab7090730411b61e
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/20.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ceb2fdb429528c1f106e297d2722e1db6b2beb6dfca987e2361e0f0f095f2a2
+size 16240818
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/21.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/21.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe750eab3479d2568364611f1771a5c5dcc666
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/21.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b77854fe8e6a7691c31f5bb0d79a9664a781b88d2b7f818f0f2fc9f88ded1aa1
+size 17810594
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/22.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/22.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..db40bb6aaee689c771b6acc9f33b9ef326fbefdd
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/22.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60c6566fd24004be55d80c430500cd83d42a4fea83c196d2546c39327b70734b
+size 16319402
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/23.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/23.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..eaf0d7e9ffb183eb5f5839030465c9438eaa4e8f
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/23.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560b489139b1b9fea808aba4a19028d4a0c9f668bcd50688b5b86655526b7385
+size 17393097
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/3.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a6f84e49b34d904e912a8d95da349ceaec7c2963
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/3.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2dc700ed4fe833f21e30e51714777af19e64b1fd9041aa4d3c7bd5255eeb536
+size 15095267
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/4.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/4.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..fac5da4a1d4215eff789a6b1694a11f1d0b246b4
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/4.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c8e1ea4e92d004f73693cbaafc8a8b80e92bf39e5d92a81994f0b7ef7da903
+size 14271817
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/5.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/5.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..bed4b9e48e01b234efea767162fbf7c993299092
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/5.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c9501c7757eaf2499f8fa8100d52a5c6f5e982864aa671b7bf0080f475d45f
+size 14450837
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/6.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..2e14ccb0c922235ba8a27fda36e627a4bf5a3f35
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/6.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca1fa3870b283506a1e9fb30ec1f15717957aa57a9430b6256ac3b42defe8c4b
+size 14602415
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/7.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a4032c79ab043a5d9965da4446fc0d01c28c1285
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/7.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958e792518c365f6c6086d97e82fdce7d7ce1457e76393b084f193b7160c10f6
+size 16704094
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/8.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/8.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7f732dfdd79d111834ef74d06231c1e8ed468412
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/8.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e57f21f6e36091e4231c104f8f5d34e05b3f1e36b6e6213baf6910622484c9
+size 18647704
diff --git a/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/9.0.0.0 b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e2d638cc06d0a673e8a2302303704e870a005f76
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_eye_in_hand_rgb/9.0.0.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa34ac2d67e08b67c24803daec7c70f2f7992d7e42711f700f409c63d3bc66c
+size 16087530
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/.zarray b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..5494f4e4a2fbcb93c282b2f569ab440cb33c25e0
--- /dev/null
+++ b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/.zarray
@@ -0,0 +1,23 @@
+{
+    "chunks": [
+        1024,
+        2
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dimension_separator": ".",
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        24555,
+        2
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/0.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4745e83a90e11bae24d8861e9d5cd6a3c7de8027
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/0.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/1.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..bc73a19b468f1f772349c87dfa9e987d52478dd0
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/1.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/10.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..11cdc99f1d050427e41447f54d63a4983eb581fd
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/10.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/11.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..f9b2b5b941f2bba593036d0327fa098755c67fdc
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/11.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/12.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..5cf9fdd42fdd9ca4d956e201e79a6bd0ab277eae
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/12.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/13.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..0d9f39679b52fe1b70888ba75a7f0f7efb70b7f5
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/13.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/14.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..9651a3c782de5b37679f4700649e9a8f049c1ffa
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/14.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/15.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..fc9220caa7bb1eca196e93cf02d493706e83491b
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/15.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/16.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..7304d7b149146fbc760f28fca25484980c5ebe6f
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/16.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/17.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..12174c96e86647fdd157c9c52b4bc3761d87dc2d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/17.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/18.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..0430f3fb4e154780a0cf26218fa026134e2e76a2
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/18.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/19.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..5a7b964b6b4f4c8b1a672cbd0d65f99549de1e9c
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/19.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/2.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..9cc6e7fb7c006a611b5b924df88a98eff353edcb
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/2.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/20.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/20.0
new file mode 100644
index 0000000000000000000000000000000000000000..2c70775f760f1b964189630ec1df61777357c7aa
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/20.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/21.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/21.0
new file mode 100644
index 0000000000000000000000000000000000000000..e0d9710ce0424d1b79b2830c2ebd135f16456450
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/21.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/22.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/22.0
new file mode 100644
index 0000000000000000000000000000000000000000..b2d1ef8b4a59741c9e681a7d037b18eb4dac0362
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/22.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/23.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/23.0
new file mode 100644
index 0000000000000000000000000000000000000000..e4ca306e1ecf40d371c1fd55a8399426cf8d111d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/23.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/3.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..6ac1194362c936d58ecf555210e6156555c4e9e2
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/3.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/4.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..4a7795b3ecee230c57ac35e83aee6f90f3b1f0ff
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/4.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/5.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c65fdd620a066dee7acc939d1c0adaeea0d148d
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/5.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/6.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..3e6859926c03fcc8ff68555cab050425b132c7d5
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/6.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/7.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..9954936368398543a6e49bdf6e814b0c41d482b6
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/7.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/8.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..38dbce5bc4570eea89a0c871a038e5c523f12a5e
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/8.0 differ
diff --git a/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/9.0 b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..16e29ac5ec55960c2dc5b1c4e30bea96648eecea
Binary files /dev/null and b/coffee_press_button_N200.zarr/data/robot0_gripper_qpos/9.0 differ
diff --git a/coffee_press_button_N200.zarr/meta/.zgroup b/coffee_press_button_N200.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/coffee_press_button_N200.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/meta/episode_ends/.zarray b/coffee_press_button_N200.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..3e0781ac6add557683a8c7a410280efb6c456508
--- /dev/null
+++ b/coffee_press_button_N200.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,15 @@
+{
+    "chunks": [
+        208
+    ],
+    "compressor": null,
+    "dimension_separator": ".",
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        200
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/meta/episode_ends/.zattrs b/coffee_press_button_N200.zarr/meta/episode_ends/.zattrs
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/coffee_press_button_N200.zarr/meta/episode_ends/.zattrs
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/coffee_press_button_N200.zarr/meta/episode_ends/0 b/coffee_press_button_N200.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..c2675f492466aa59e6593aeaaf17dd56ac6a6f9c
Binary files /dev/null and b/coffee_press_button_N200.zarr/meta/episode_ends/0 differ
diff --git a/wave1_coffee_press_button/baseline_seed10000/eval_log.json b/wave1_coffee_press_button/baseline_seed10000/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b53696bf22ae0012a567607818a533b7afd3a6b
--- /dev/null
+++ b/wave1_coffee_press_button/baseline_seed10000/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.52,
+  "coffee_press_button/video_10000_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10000/media/coffee_press_button/4cpc1mro.mp4",
+  "coffee_press_button/video_10001_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10000/media/coffee_press_button/oycj55ur.mp4",
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10000/media/coffee_press_button/la8w5u4o.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10000/media/coffee_press_button/ybbp58yq.mp4",
+  "mean_success_rate_mean": 0.52,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/baseline_seed10001/eval_log.json b/wave1_coffee_press_button/baseline_seed10001/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..97376d732dfd633772cbd1b636ca4ffe7df752f7
--- /dev/null
+++ b/wave1_coffee_press_button/baseline_seed10001/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.5,
+  "coffee_press_button/video_10001_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10001/media/coffee_press_button/8f2cq3pn.mp4",
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10001/media/coffee_press_button/2tz6o0bo.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10001/media/coffee_press_button/ukutxwa1.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10001/media/coffee_press_button/xqff436z.mp4",
+  "mean_success_rate_mean": 0.5,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/baseline_seed10002/eval_log.json b/wave1_coffee_press_button/baseline_seed10002/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..a43f8f48d20de565235f8215186c55919af50074
--- /dev/null
+++ b/wave1_coffee_press_button/baseline_seed10002/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.4,
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10002/media/coffee_press_button/f2flxhr9.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10002/media/coffee_press_button/xb7f1me1.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10002/media/coffee_press_button/p4iweprs.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10002/media/coffee_press_button/1vsjn5n6.mp4",
+  "mean_success_rate_mean": 0.4,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/baseline_seed10003/eval_log.json b/wave1_coffee_press_button/baseline_seed10003/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a7ce76d1bd36755cc1b866871ba97096f2bd78
--- /dev/null
+++ b/wave1_coffee_press_button/baseline_seed10003/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.42,
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10003/media/coffee_press_button/9foqswar.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10003/media/coffee_press_button/z1972oc0.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10003/media/coffee_press_button/zguc7ude.mp4",
+  "coffee_press_button/video_10006_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10003/media/coffee_press_button/14qb3x0g.mp4",
+  "mean_success_rate_mean": 0.42,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/baseline_seed10004/eval_log.json b/wave1_coffee_press_button/baseline_seed10004/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..290ab683861137c47ed6a292ba3bbb8702b3e532
--- /dev/null
+++ b/wave1_coffee_press_button/baseline_seed10004/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.36,
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10004/media/coffee_press_button/zl0nk88r.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10004/media/coffee_press_button/te8r0ydh.mp4",
+  "coffee_press_button/video_10006_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10004/media/coffee_press_button/nil58kvy.mp4",
+  "coffee_press_button/video_10007_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10004/media/coffee_press_button/s7pce64l.mp4",
+  "mean_success_rate_mean": 0.36,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/bon_n8_seed10000/eval_log.json b/wave1_coffee_press_button/bon_n8_seed10000/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..012e64307ac40604fbf5963cecf9d98d3cd120c2
--- /dev/null
+++ b/wave1_coffee_press_button/bon_n8_seed10000/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.54,
+  "coffee_press_button/video_10000_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10000/media/coffee_press_button/x1klz377.mp4",
+  "coffee_press_button/video_10001_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10000/media/coffee_press_button/a8n0rb6z.mp4",
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10000/media/coffee_press_button/d7i1u5wi.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10000/media/coffee_press_button/5f72b2pq.mp4",
+  "mean_success_rate_mean": 0.54,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/bon_n8_seed10001/eval_log.json b/wave1_coffee_press_button/bon_n8_seed10001/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..07809e2d0e5081589af9add9b6da0a5ce693d8dc
--- /dev/null
+++ b/wave1_coffee_press_button/bon_n8_seed10001/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.62,
+  "coffee_press_button/video_10001_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10001/media/coffee_press_button/3i360wcm.mp4",
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10001/media/coffee_press_button/coi33erq.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10001/media/coffee_press_button/4xaqc6gw.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10001/media/coffee_press_button/qbhrpd42.mp4",
+  "mean_success_rate_mean": 0.62,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/bon_n8_seed10002/eval_log.json b/wave1_coffee_press_button/bon_n8_seed10002/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..27aed9a10d3fea77a42fe2bca391d2568d15eb19
--- /dev/null
+++ b/wave1_coffee_press_button/bon_n8_seed10002/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.58,
+  "coffee_press_button/video_10002_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10002/media/coffee_press_button/ymlgqgbk.mp4",
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10002/media/coffee_press_button/43xun59v.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10002/media/coffee_press_button/v8yjbaah.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10002/media/coffee_press_button/uhpa76ix.mp4",
+  "mean_success_rate_mean": 0.58,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/bon_n8_seed10003/eval_log.json b/wave1_coffee_press_button/bon_n8_seed10003/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..6243d9802a6708459edaa2e62fa741e9a8fc3a24
--- /dev/null
+++ b/wave1_coffee_press_button/bon_n8_seed10003/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.46,
+  "coffee_press_button/video_10003_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10003/media/coffee_press_button/52ou7vh4.mp4",
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10003/media/coffee_press_button/ka07pwp6.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10003/media/coffee_press_button/urpqruid.mp4",
+  "coffee_press_button/video_10006_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10003/media/coffee_press_button/06w0knqz.mp4",
+  "mean_success_rate_mean": 0.46,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/bon_n8_seed10004/eval_log.json b/wave1_coffee_press_button/bon_n8_seed10004/eval_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..8905fa63a3071a89f7601b5d8b3906b335d69c41
--- /dev/null
+++ b/wave1_coffee_press_button/bon_n8_seed10004/eval_log.json
@@ -0,0 +1,11 @@
+{
+  "checkpoint": "my_models/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt",
+  "coffee_press_button/mean_success_rate_mean": 0.58,
+  "coffee_press_button/video_10004_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10004/media/coffee_press_button/nmsczmn8.mp4",
+  "coffee_press_button/video_10005_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10004/media/coffee_press_button/ol47cqxp.mp4",
+  "coffee_press_button/video_10006_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10004/media/coffee_press_button/88k0033v.mp4",
+  "coffee_press_button/video_10007_0": "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10004/media/coffee_press_button/y6a9gug7.mp4",
+  "mean_success_rate_mean": 0.58,
+  "mean_tokens_used_mean": 8.0,
+  "num_exp": 1
+}
\ No newline at end of file
diff --git a/wave1_coffee_press_button/summary_literal5.json b/wave1_coffee_press_button/summary_literal5.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea27a1ff2bc5a91fbfb98daec0b0be7c9a1f6a8
--- /dev/null
+++ b/wave1_coffee_press_button/summary_literal5.json
@@ -0,0 +1,64 @@
+{
+  "protocol": {
+    "layout": "literal_5_seeds",
+    "seeds": [
+      10000,
+      10001,
+      10002,
+      10003,
+      10004
+    ],
+    "n_test": 50,
+    "n_exp_per_seed": 1,
+    "aggregation": "mean over seeds; primary uncertainty SEM; also SD",
+    "delta": "mean(method)-mean(baseline); SEM_delta=sqrt(SEM_m^2+SEM_b^2) unpaired/conservative (paired SEM of diffs optional later)"
+  },
+  "methods": {
+    "baseline": {
+      "per_seed_sr": {
+        "10000": 0.52,
+        "10001": 0.5,
+        "10002": 0.4,
+        "10003": 0.42,
+        "10004": 0.36
+      },
+      "mean": 0.43999999999999995,
+      "sd": 0.06782329983125268,
+      "sem": 0.0303315017762062,
+      "n_seeds": 5,
+      "eval_logs": [
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10000/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10001/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10002/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10003/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/baseline_seed10004/eval_log.json"
+      ]
+    },
+    "bon_n8": {
+      "per_seed_sr": {
+        "10000": 0.54,
+        "10001": 0.62,
+        "10002": 0.58,
+        "10003": 0.46,
+        "10004": 0.58
+      },
+      "mean": 0.556,
+      "sd": 0.06066300355241238,
+      "sem": 0.02712931993250106,
+      "n_seeds": 5,
+      "eval_logs": [
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10000/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10001/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10002/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10003/eval_log.json",
+        "/workspace/oat/output/eval/matched_s10000/robocasa/coffee_press_button/bon_n8_seed10004/eval_log.json"
+      ]
+    }
+  },
+  "deltas": {
+    "delta_bon_n8_minus_baseline": {
+      "delta": 0.1160000000000001,
+      "sem_delta": 0.0406939798987516
+    }
+  }
+}