diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dd25c8f322ac344aec7d997ae83902a0460a77e6
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d4c7f24895b088060a5326a52f95c1727925b070a2f922339c1116e2e8177d
+size 49627
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..54c899dfb6d80109859065e77b2453f2ce070a0f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1972a27b712ecc62c4f043432aad4eceff9f78a530a7f149f6bc32255d4502ca
+size 35396
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a639852f73a42547f7203b23aaf375be16bff8f8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f3b8b729dd4124e7714df1c5f7643cb8bf22c1ab5920a076d126a241b027c4
+size 37323
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e9b5a46f4b0db264f4264b946e9dfbbeed5f48c1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff7342142c4c6d38ce29e21d92152557440313affc86c83888a60482a42424d
+size 38990
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9b1a64548cec170005326ce8ee13cca48ee44218
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efba976381f182c2c14e0ba14adf371d81f51cfb6aac2f17eacae9ca4a37be1
+size 35490
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6984ca4e8fd416b30dc0b936035eef43a530c551
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3f53d4bf339a2ecf3457e23a20422a958d8c230595005c190c095cf2279ef59
+size 53722
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab36af79bc53034f4fb527873f763c0ef7a633d4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1895c8c7afb1f536de469ff4693e4f7309fc121d11d70c82a7103effa790164
+size 33955
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5c47a70f9349438575023c3d25ebd2a225297fd4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1efd31b6a9410f082df8be689490c58f69cf8d8e7be1c603bfd6db2b07a5b571
+size 46461
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a4012f2fa83e7d5455eef443c87eba4f1e02acf
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d7f0fe1745b865a2e71fd77128679c31b672d1c0f14954e03bfaf99bf0ddd4
+size 42701
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0773f07bf77756d4d49553ee28f5f94ba24cf89e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f49eba91f0f7c01f6917cbf9b06e1732b2e7d20de25e5c8daad3094b7623f41
+size 34733
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab422a96d69f0956fcb9c2aa3ba8ab6c9360c64e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c57318bc07bd0d1b92ada55f3c741ccd3a51f28a06deafe07d271640b565fa3
+size 35957
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7a7c1042541c5593c03f3a03cd9451db6d8d1edc
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5fa4ca0e63b8a7b5518bd5c98782622f93f301907450c5598700d72af2e5d63
+size 42007
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bdaafc8c1104aca98f6807937e3631c869ca1c65
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4147bae574c81b23ebee312b94b94c8bfd3e565025614503310edff62fcea0c1
+size 37214
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b2f8f14b4ffa2f6e607e2a6e83a22c65c04e3121
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322aa92d64565760de206e0c20d2f2de5a5f265ff5a0545ed86a36c521e1747f
+size 49686
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e77f46b8e32554a28bcf09363ad89a7e66ef977c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d88513fd69c77acef6a5f7e30a25ec10d8c69de4de1209f64e802ae8dd0cad
+size 31492
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ecc0d3fa94a23b26fe29b222a9fee8dcf2e1800f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85afab508f84d7e36c45069b1e10b5c26a8ac5008cb433e7a61ef2200637ccc7
+size 43493
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..490bc63d6e8e3ffcb641a47a3d2c494a53bc795e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd82cc5b4891a7411d3ce22e745049bef74b1a59a421b0b3084b66ff695d10e
+size 37135
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5f39b92d21f2543eff0674c110b2b568212f9ef5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c4733ec2b22fc52c1022a41180a500b283245042c322ddadba3d7b87158df2
+size 38478
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5bf3088158066b6091bcfbc725735d7c4e25f3c6
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2780d6e0594f4209dc7dc46301eddbf6131172a90178d1b788650f6f4df40699
+size 36195
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..067114c347840784f5642f1c0a79da045355bf04
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24800424fcb1d2461dfcd4535bb3c11385411044fdb8a4f6ac61c3e51c93941
+size 44064
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1232bbf6d19c85451976bd3c895dcc080df6be21
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18da121e74362bfa8c14bad9a89082e2c656f175733f0f123a6a3c2601bb78ee
+size 43528
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b221393efd11fdd53cd2dbad0cb9b6c248bb19e1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23df372099a6c71cf3e9523ccf3d07aadc57c1b2f24189aa7fce177618a32e32
+size 35391
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a179769261cfc21d73b088b590de776a38e32962
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2fc7160536f8d5384d7e74378a819dfa5210ea24c07bbf1f90bc26dae5e6e92
+size 30769
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6aba9308d16759d4d114027fb79182eba71caff8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c71cdc259f49dff4fb70b0cd1660a804cc06e10a5de49b621cbd768109bd3fa
+size 41203
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cbc4034b7044ba0c735ecd7e9434bbd689cc61d5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf95ca6253d78f775fd2a2aad3a1635b452000dbaf1e0f6d5d38a6aff5d39586
+size 44382
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cbe45c418fd8bd4f15e6c7273aa79b0874a6499a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c25c2ffec8446d7d51f20c3c2ec14b112ff251c828bd9608f2c7f211a097589
+size 38339
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b399097908ec5e516b6a5b02a5b53132e55518ff
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d50f2a3fa1c1f27935ddaf4f6dcde448b33ed0f94ffd9eea5cf2e22be63a9e33
+size 30942
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ad9a316f1cbbfaff05cda164ff48940e74746952
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae940150af950dd70645f9250e22e00de21c2f21db81f9245bae86923df0b8c
+size 34519
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9b228468bad9f6af34a6d574260dba6eb3704594
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e0abc57fc5178e98d2182af201c3957f13a014a1d163da6895de3c839d3fc3
+size 34604
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b1e55af58447ce2e9d1e2ec45cecbe8960189cd
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:633dd0d16d8c61ecda5c155efa7b762b9efd1498c9099c083661179597763587
+size 36231
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000105.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000105.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d82e60483fb0091d6bd6b21687488d6491351224
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000105.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a335477c0e2196a3ae96b02ba024e2e9e313270eaba5064ad6de05fa6661dbab
+size 43970
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000106.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000106.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c09490282c7369b28fb07a8b6bfaee4a21faa87f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000106.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567636280828684f996b8d2ef0d3a5bbc0fb759b2d15777c26d12b69b46805e9
+size 43938
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000107.parquet b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000107.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cc2cf9900cf5cadbb873b56ab6eca5f520fabf35
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/data/chunk-000/episode_000107.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9cb472df1a8254eb091ae2d364ed753f5c26cf6cdd82c5e86c10110be1cef90
+size 37587
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b6ba1a64fef502707d4e720bfec9784a975ba072
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6018ec002d982808b6012de81fd340f931096f3dfab09a92fa9bcfb409ffd345
+size 64161
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..47dc1a84c794398d872b130d6d2b794e44297fb4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000000/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24981c73820bde85c14d209a85a80364c53bec14007700a195c51b860a63eace
+size 140446
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bbcd3af37405e249ec84bcdf0f80a37167054a0a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4756c36f610a5038f681119718d754c97134ad6b67f89aa322198e75e8be32ad
+size 57330
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3ab2215839deb5d766c4b000bedaff299f11da1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000001/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195bde140bc3a8bf7910630812cdef0f1bf214c6eaad4d1363962817ac5f4141
+size 168319
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4cd496cbf42bc2acfb8c0fef177511b271cf88b2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1605ab6a6eaa76a9d5985de0b4ca27b38cdec3373fc3ccdcb8c30630be407a08
+size 66365
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a1f23a6096eded102bb80b5d3d0f6b53e5b0c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000002/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ca5a46b3e862c32492147bc8461c4a85a63c884a2d93af04da7738255fc8918
+size 195951
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..31194c22213d3f2949b37b67afbab1bf15ed4a7b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d478cddb52761c52e6cb093110cce131615649f7f9282400c963ebac0e1bf2d2
+size 72564
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a563a72618571da7a87a1f00e8c4e99ceec687e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000003/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a683adb09ac79ee5338b397ab87c01e1347d7d180bbcbbd03f8005a51cfd09aa
+size 134114
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..45b77b58ad6d76d0eabe8d0a04751abf29e80604
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4e954a3b397424d8c663d71125e450e6c0e676bd8ad56b7fbc05e9d839c4d0
+size 45464
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f99faf2acef310b791db623c02476b82b60b188a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000004/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f76158863fd095c3e939c83ceb6cb1ea28cc00185dfecb2eebffde3aacffb7e
+size 194399
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8c174a0af02a912a5e4ed47eca77b4bf448fae3a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a29f91333ac3db48bdfe4cbb2952de91dd761bbbb0bf68dd6b1bc7dccf5a5ef
+size 62373
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbdd145b3ab137c9cabeec069a344fb260816a82
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000005/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d169714413da604978836f9268a7f64f38bbf95c4c5f4392c333ad26c8da9aa1
+size 149336
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..37c414ef9bab202a53d977b8e1bb8df037a0c56c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd990ff1ea1beef1f31fed2710d892d1c6f49c831e21ff7939b263bd05ea4c0
+size 50498
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c3c83054ef00873ed918a186947ca642ab32172
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3590c3c83cc50efcb18d279f4b43ff9768c96f29ccc552dcb6dd80da384b796b
+size 178393
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c40095e7f6b0ec23ab7a7338ed2761810a4a1337
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f079430ba1bdd6124a6192d36ea66046b2508cc4abe5927798f5ef83eb2b95
+size 45501
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d71ae65b0a7af178a4bbbdec9b66313496e4effc
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000007/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1bc2d175d2d8458214e60a37917ba972f55088bf9dfff7b549a78d6e2e343c
+size 262567
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4038e13debe7171864308c4849fa76c9871e1335
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d190eecd24543d28ddd878bf82db16e0863104d8afd72518eaccc844dcaec62
+size 75487
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96f82a964fe402aa83ebdb1e0e5415c9d8dd101e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000008/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd692e38257e14c0957c16f36ea531b06bda86813f1a7d5cfb4fd23b1b6d084a
+size 145776
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4f56259d51ad245054de7e2704bddb481dc69f7c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e5b8224a883e85de8e48dd68357dd596603d856d83ebf9de083020a54c5bac
+size 60117
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44688468b44e1c54e1fe8a18640729e0e1cdac23
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000009/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0777a7753195051bbcf782ec57d7d020aff775360896c22d7e0c1cbfdc59092
+size 228135
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..18aa0f1cb848c27cf8da2f3f98427dac56d34cf1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b3f040029cf2b3a7d53a1b7bbfb967d973cba9ef06c7b81eb5049e73991df9
+size 60364
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02e9ea775f5d1275ffcebeee709be8ed1953bade
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000010/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c173aef08fc708ce36cdf2109fb3011c2dd18da0db9c304475021715851992
+size 172171
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..54f567254f6214007869a72bac820f23927e27a6
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb035ebe53b07b9951e57e2be8c0201c0cb705c6e9aa4e7f736886dfc06e805
+size 65254
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..557ec103b785ad6cd4d1aa5120202ebcf39b31f3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000011/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac57b8841c4b57398f2cf60a18a46ae8075dfe44be2aee0a9a3502c01384793a
+size 143666
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a3d25ed72e07b31a71773c3087c3131d3100b7ef
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00addb1d24b4a04da780c95433d4ebf327e23d3de998a1188d363653ae5b7384
+size 54848
diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/states.npz b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b50d51b87f09ba94d39e5ae7ce5dcbd97be0264c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000012/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8666614bd3a9619a05024e1bedb6a8c7c5970e3730e0ea9d6cb54a0d1ed4d7
+size 197371