diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..fd330ec7577b74d71170cfca2d43e2e588aff9d4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be5b3481ccf1f7de234b4b2c0fca77828be2148139426409539aeba24d49352
+size 78227
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..436e6adfaab6d24ad13e21acc2417f6816e49fc0
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000052/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c70426d503ef8ca93d293b50a5a7ee3bc3a1fd8705cfc710aace4d0ec9988f
+size 283729
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d7e920bf00dc5536fbb948e546919be819712303
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce192f02b9970224cd559b53b8252674bb7024d339669ffcd25acc57b91a433
+size 64468
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f2e81170e2c1619c2033b489154d27e4f60e719
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000053/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20c3146f10918105e0dd523c3f81767116da21bbd2830e90eae7e1a3237bd76
+size 320897
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4cbeb39c622761fe9199493e4250d67cc1a9ddf4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20fcd0d625a282d90f5c533e2c7ed60d939aa123962a4e4cfef650b50e43af18
+size 54294
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8189200cad3695b33272daea63b4eb52683508a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000055/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2e242df7c12895c748c17f5dc126ef8f6a1280ff65df900272399f8c3defb0
+size 252283
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..5135c0afa9a2afd287ed9f31cbf4dcc35684212e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60af388154b9361dfbd75af3baa937d64568e0ee352a8fc7568e96caa278ccce
+size 49047
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30cf920fc6e232744a3f23c6e9d82a7e2acae857
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000056/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200c1d315cd993108d16b66f2c974040962bc5a605c4b379876e58a9ccb021f0
+size 126763
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ab15ba2ac8388023deb697dc8f5aa951bc31a62a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88b8666d54bec6330c000a81793213f157bd95bdabf7b4164af848fed97baca6
+size 55369
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0dd65f6645a1853cef05bbea2c34f05edd8e355
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000057/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24a0d44b81261ec71cdf2b5fbef3b95225030b6c3fb5f1d73b7525927003047
+size 137290
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..069d3ce4d795a2e279f6afa4e40c920e50027987
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0468d863428cb32cd2ca8e73017946ed00b0d52983287f1f9222e88c5ad92529
+size 55818
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eada66cb85cbe218bee00596bde3828c4f8d318f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000058/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2c14d709c280a8e7387c1c5c6635d09b42d80a794265df550830fcfec14f3c
+size 166420
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..04e16d323efeed7869aef5c9b2b05aa304e65657
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eecb1e8b08636b8e3e364803294e5f1e166d199d12defca28730be15dd9b84b
+size 66779
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..faaec35c260c41152bab682ed6c0aab581e933b4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000059/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29085777058bfd8c49f1577fc344b91c738cbff3abcff897f21a89a46f111aa1
+size 158245
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f55705cae1d81f7bb096c6cddc90b79f6146dc78
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6a16c3e127df949a93411b7d2b135162a720fc05bc568b3ab9bae0d1f83020
+size 55716
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d97699e13446ffce43103ac9e858c0594fcf995
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000060/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e679c2e458c36c197d558547a48249d4797b6c05d7fafd3565d8a13f4e5a922d
+size 304965
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bc3b1467c9c57d080c5d138759d1ad18bb8c0319
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e46f1839e7571d598c2aef4b9779b135138861afeab2c25463d540663fa278
+size 56580
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e692d84fc6fab773da4428e20bd05979107c8d0e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000061/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e0b405b902387b3e865e43ccf5b1e6ce0059c6e4b5c1ffff254591ea91220e
+size 147728
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..863663a3867de22ba7b0bba5a1b6af060a64360b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff691e9ffd537244d4c0776f2fe2cabebbc639f649d61efd0c7f292b089ec28
+size 57221
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8d0c954d494a2415b098cc8484ff9fb76a6a6bea
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000062/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cac7b211ac614e58394560e69cf72ae46f85e88e89838d4f67ec33bc7556eb4
+size 145927
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..41f7599795b65ea8f1595d1fb3ac5d7d0ce0338f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33209f6663091533453b20a5d809051857268a4cc7b771037ce03d0d2f08d5e2
+size 58808
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09965060d8ec4ea4c0544ee88c22b1ed1e0269df
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000083/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee69ffd561c53b9531cd1fde00512dc511651650c44997e6d08a540c2ae37b7
+size 211371
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a5337e168152132598e00184fc87da2d9bd7975c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7020fdbd5fd71c3f297443d647c01386875aa5e6871ab8f31f587539d2080d93
+size 53483
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12d0f305179cfd5dcbda8f691aca81eb33034582
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000084/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483fc54b74b7905eb734b0929aedfc0399c0405d90684e397ba7a38b14ee2b98
+size 152823
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f308a1e61ca72290be2c660e46fdd16d76ab92a1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2412be56383adfa9a742e43e3e8c4e872e342928f8480f71f6cda5fec43c2c02
+size 64489
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2f474799b084de9501978775069b9e13d9fdc9b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000085/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb03dc8da586e4c9cd2f34a8912c5d9f1f57ad9c34709630c266b56fa5a9b1c
+size 279059
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..af4d1c2a801a302bd1ea81c226e1df2bd9358de0
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19a26f8e20c0296f66d0dd05fce97b7efd004fba14b848e57e5a64eb8b9bc1af
+size 52407
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..190c82e7fa96b3a9ea16308100da4d8c338d008c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000086/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37efac620d4e992bb759d742d1c938fd6b46702a317ea72f0299de1bffc67abb
+size 232202
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c5812c82e5ab6b235da068dfab64f693394f0df5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42a87593321d59408374dc131217fc9278f27922edcf249af36958f02fce613
+size 63556
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb04c7f1ea6d707be3ecbec129ba3cad6da7de5c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000087/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361d23b0aad838e252651442c378507fc6e293e67cf07d618138a895c23dc884
+size 176545
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b8c80cb9a48c58d8b0253d27b916fc778467c6fe
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345c869615bfc222ca31bc553b7ff4442d5461202680c498839ecac02f3277a1
+size 50234
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..32c8703010aafb682c4d782d5e5a83a7e2bc8248
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000088/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230aedfb10941b9f822b5086b816fdda242a1f1f84d7e498e42613d21fdfba52
+size 166966
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..65adeec42cdb8fef3524fc34f159fdc85dab517f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7675d6452ef9b441c0925288e0eb2dee6615f6d7d6f19b9a44f86dbd191a9a12
+size 53819
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..068f963742aedf66104155874e644336f357272c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000089/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc9ea80cc8c71743a321d8f94dcf71aba2b896ba697848a1e2c0c534943b281
+size 155845
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c479fdb82caaeb0854df6fba9cce8cf2c47882e8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65011f8d1417fba9f7e7a32065c063a3917e906a5b271c1ca1d9c5115aaed6c
+size 65311
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fedd3f49c7891d001c3eb08db31650301724a85e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000091/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435046391fd2fc935ac0373e2d08f454151b5d07623e034880e66fed88f3667a
+size 152712
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..514c8c48aaf28b3e1a0775af2b115c4742812bbc
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3825b4b8f8f3f625894586176de38eba70cca9fdf6ba7603c1ae96941cede812
+size 64751
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d6e949d77b07c87c90d48bce95ec5f1959bb284
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000092/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74187879d60391950e90adf3ee398514df52408f336712f234562d708a0360fe
+size 171471
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bea8edf2f860d4ee1bb2b45925f8e57d9d2863a0
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38851df089f076ee52a322d6b8e2fe1eb7217c502b729e6c71b8dbf557acd0e3
+size 60674
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2bba16466e5411deac508be8307fb4a364c495f5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000093/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d2b26f50622390729e633a102f629a88f99b6ac46ff6aa44f68606fda915a7
+size 185406
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f25dfe330570063fdf3cc0e7ac2fd4afd469f772
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3434e31d7448fce14c8bc8836d154497aaf9665dfb9d071e95ea3a7bd16414b4
+size 63835
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ca0ce1191b47d4feea1b6791cf58fd75aa9a5b0
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000104/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d2aee777a9b11d29228716b73df1e501f54ccf8b3c456cbe9d25cb91b5d6ee
+size 172535
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..27ab090179149c6e7a3a059bcd900634a6964bcc
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad55e43eb304fa2ba5ac0ba193e5714c62146af5ad8349a770d0d84994fec2d0
+size 51042
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..663cdd3f0061e3d5e460a5aa9f70102276b0df78
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000105/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e522d7ea839746082682525c71b3e625f135cb1a8fb2f7ec2924d23e873b63a
+size 156460
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..59a9a3bcc1569bdafe7966bffea4adf4dcd0ae36
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8aea16a999fccad83191d1d7ab8cf66fd308059b3d854e609c328d08b6e9a18
+size 57495
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72bb340f0032f924ee19f31e488e5b049e94093f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000106/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee6f7a6b0b48d77773ab73f4c47e5d9ef3b0b703802d0dabd01600e15f5df49e
+size 189150
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8aa26b4963988c278213bcc5f2400947c046b724
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463a89318d42220b14f902608e549ba2c6cd0eaa4207485d0cfd93f659580a22
+size 57485
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..283e2fb310942634f70c5b92257c869ef2a154ce
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000107/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75c3d6e7e27a2e15cc245b0206543283ed9b04126002a8f1f24a3f66f80b5e7
+size 151310
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d63a5561bec146ac50e5327fce2eef2b36d3b033
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9272740ed32c9b1ce8521a2d2fdcc96680485eca1539c5b9b77eb06ca4ca55
+size 63532
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..663c01fe63aca7a699259f400657703ff12fda47
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000108/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157a773ba20ae8d897833cf8603cc57493727edd6d341fb897c16885d621ac82
+size 160218
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..213c73dbf3144680d66e43e7f3e4d5c365d654aa
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f595849b7a467d15dfd84fe8469699f47003c75934904ba92bdd8151eef552
+size 55934
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b21250711d74694933e49c2406a24b33f51cc3e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000109/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde37541b059e5b1a59800d09a12ac873371bc19506156d732c0bc0af9085d39
+size 160184
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/model.xml.gz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d140a6329370098cd40efda6c5ebb9356651119b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4177de1226f35e84b49f06de75faced7b7b87a6068eb030e96abba908bf6280b
+size 54726
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/states.npz b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eee001097ff7232f663e78728c890ce8c8bdd3e4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/extras/episode_000110/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264eb79227ab2ce4ff59f795f7828ff29e7002e93d85fd6d14f127bf0fc0e9ba
+size 179679
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed1494b3f5f10e66105324cbd07830ebfe2a7425
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2266a9e9db02249b1cf9ca0bf267c67c711665e9fe2c22a923a3dbd9ca4de2fc
+size 187730
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6543d5ba64a280f0ed7a6accfa438b275fc9b3fd
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea56d46d3e31c5b6f631eb3d5d637ffd7e95c515bc5546c8eaab0fb6617bf848
+size 159612
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be69397b4ebdf473de42f72a0549a7ece8fa833a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20448ff497ab375d699ecc23b7cf88d44138f3c2abe3a45cd147818ac1389232
+size 197750
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3f14bbc167977a6d7650524c9763fb81eca03d9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd2e8ddb629b2c08930ffd87c92c9ecaa5a2854d5e78ca335a4cee1168247eb
+size 175277
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdae1bfe92f7403da596370251e4d0e4b5627517
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f725a3fef6815e554efae0e9065af169af5e947965f2c0b60768a037e19ed21d
+size 187904
diff --git a/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4 b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0eb48b71ec7120971269f34f8f9ccd54ad0b51b2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a09a9a98f3949b51cfa5402f44b7dd39b952574c6b517e3bdc3d316d1ba4418
+size 136227