diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000073/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000073/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..733b5fc34988ded80a228f06aacfe6babc74391b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000073/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46394d7467ca43a67ced93257d5abb98aa43ff42ff96a9a975adef93ca494124
+size 320477
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6324272161e2d0326ac59f62841c089d79d89fd9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1064eb4c7946cf6e138f537fc037046f5ad1dc16f7b5745112726bbdaa84f46
+size 61771
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b41be129e41539a3d2a1985d2b2e269a08ea93e2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000074/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186eec84c257328400452a738e5ccb8c52063e0603c0ae52ba9267b46ca49711
+size 155192
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..eba02d9cba7aa94a9d4d43f0bc82dea114a656ef
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd9b2bad5c54bcb4e7776e00ea30da1182d4b61eeb2c3610ec12855bafe8fbb
+size 47369
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c58e1789024884f379a2cf44244c3a219dc8cb00
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000075/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc9ed82b06d3951cf94658a1954bdb1b4e9ef9aca17f8067ac28d74ca5af32c0
+size 171661
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..397e92b2f6177933660b5c5213cf74991147abfd
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331c8ca99cd0a5aa37c795472c53deee1d3cfeb07292c203162b1a54a1a30c46
+size 42018
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4990c937ff8a511a9f9a7189f73e4520ce89b76d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000076/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0594dc533d07fcbd99ef2b1fdf444c1b9b36f0f7d81fed7a0898a53f6da3a4
+size 280068
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8d0bc3fbb8df4504fe1bb140f2d42da3b838863d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2190acec2d0a9106966255e63082c5170c270604b2277f6d94b7441aa5cb4adc
+size 49532
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ca3e02653235066cea3e24f4f803eb3c3904eacb
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000077/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29468e2a1ae1bae2b5e320341eebb6af2fd17e64d9b8fff07eae89410a41ee2
+size 180931
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..0696474f8f95acf2e16a6be2a009a16c706c2600
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712e38dc0d5e9c1840962761dbc67e8f39c0824e6c472f5b55cd20e240a71829
+size 51477
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f97346bc722b0a3374a3a0e0cfa74718867fa11a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000078/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84435b243d2d5cde6f3174614bddea95b0f90c76720e102538778f7a04ebb9a6
+size 147108
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..35ac9a3ed1f10f73d385ae38be08b49b69cdfc6d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64672307b49073faa7c62295d0d1d059d1eece4ddffa6d015169fb52d76bb5b6
+size 67336
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79d8a40152a1af8e7f9cbab6a6d7bbb2420c8aa3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000079/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f871c00f590192abdeb5f0cfe2f9843997ff8f9dac3f4fdf2964700016c688a7
+size 188442
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b4ae038d061c17813f310031a81bdcfda6b67ad4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef14748a1178d942e6bc1bf60a6302edeb44b3cf49cf90d74b9e3b2774df0e40
+size 54617
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8aa2fbeeb215e9c0ca24d6002ef978a7b32a4b3e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000080/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67bfe182933feafff82fd3d9528e4569e5d7ed9dbc946d22b58d0cccc6e84365
+size 204354
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c0762fe0480db4c813070018efae9350ae0fbc1c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bae24f8bce72d99e0a896252ae831c32e9b91e49899a8fb0f47aa42a20a133
+size 54894
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6285f6daaec1f55dfd04930571f31bec6535abf
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000081/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f017a0b3a13c5dee59b36be6cc10170d2fc35be4b0be956d61c36e0d6d6144b0
+size 190616
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..29a145690a537e81f9ab645cbacca15796a947a5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c218a76862ccb16a8358efe3c72bc2ff7a973372f3d19f9bebd560d72c662c
+size 56929
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41c2aa392b212df61d22c72a64dea05fe37a7790
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000082/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c45b087dfb5c7f05f3d057126b0c7ff15622cdd133e67279c63818681f9189
+size 207169
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c9ed77c8963edf0c4c68a871d2b88ff0d565d684
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3604376833ba6408e26d500544a001252112ec7f3e1ad9c8661922952afc689b
+size 55098
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..77548020f40be5d0e2a5f9b8ecd3b83c9e4d4c52
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000083/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da1374432d73451050cfa51bbfbc12453fb34a623ef1707019f36feebfffee8
+size 251293
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8f9139ffe9ec7c3f441803dc9eef305c116eeaa4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f3a720bfd435d13fb386e49c13416992a08fa96823d38f28849bd6f9f9d4264
+size 66799
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19a1023800225e103323871d0bdef8548dabf792
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000084/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26858e69896ddba22ef414efe5bcb5182d65cda6b4fa8075e31a263be8ff201f
+size 271262
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b83c4e10a58408a6d8880dcbf180a0aa8f2a1135
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:759e3739847eb9a8f1a437ec32afcc9ef47f650effd145fd11aba45b22fd0a25
+size 72691
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61d391a812cbc3be2180ee3fdac71b1774757fec
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000085/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2f7a97b0c1b6c3f033195fa2974c732dce621fd49e5c80832f9225d79a7315
+size 170100
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f19de4d0b8f1fdc0c5fe2545e029c62e94320462
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c2167e4cc76d34c3a5e5f283933695fef7a685c6e7bf6897636bdb924973b3
+size 61597
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c7b596294f34ff24c303d1530bac1c77b1de297
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000086/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f219d07cec08203073b84814379de7bd11a5fc6bc91e44b63b3faae216b47dae
+size 160214
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c424cf7feec0e5ac98a26a7b9d013b43902d6001
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e033394cb0ac58111abe2d3420fa58c11a82f993cea5f1d25695af21e8ed5da2
+size 66164
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1fea27fe07eb5b8e5e2973accb8bc8df16c2b07
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000087/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3785634005c7011d59c96428ad846bba4c0f94fbebba789d948aad1c7b9a1f66
+size 178824
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..825b84abc6f879701f6b00f499540c9c3c811590
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b00e6c1a20d1da6d193270abdbd58ad3ad986dddc72b86d8b3cebd3f04e603
+size 57381
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b6a732139524e6887ae6fa392ed7c09335cdf64e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000088/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df450345f14fc974724728193f6152f68ab81833082b0f25a8db8d496c781673
+size 143046
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..29f0ce8f77c54186333b146146d2995eae75fdcd
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e107b48321067cef6cf2e30afa2ab4cb4eb4982d0bb0d6ef9ca0c2ee9c08e28
+size 42478
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..36921fcaa8fd3ccc6bea6a7e5679f730dd5e9176
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000089/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1171a8ea374e44af4bbaf61c643733a6b8fea96381b7f0411478bfde1fa38c62
+size 154943
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..dfcb9573e699a48000d552d7d8d91f221fba181b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627e3634c49405d3c893131a32c73fbc48d78dd0b8bfa8232762783c26427678
+size 59946
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..701285cdc6f1cf5700016987e41405356f5c79f9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000090/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:372cc5f30ecbb97fdc3e4872d253717f758e279caccb5acdef3f1909be3b2f43
+size 184715
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..def741be19b9725346217f3b5d8f1d730e123fbe
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb503ddec897b06ac70978f7e4cee55d02ecc2e16fd70c0ed9d09e0a4a5b56f1
+size 71571
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f4de68c78e74b2bd0d80eceebc374525b9f7017e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000091/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5046ca9ed1c1f6554d3e44f65b81b5f5bae9097b38e142e5fbba28c74bd4a3
+size 156140
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..61c5a5a6ad5a5363a6fca8c8725417a10521821e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdebf95b80f0637c9a970cc7503d2166cf76ad635b68f4199fc0fdd5d7b7b907
+size 58580
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..00326d298b8ad111dbcdc606ae7a04d15fcef119
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000092/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c139326453421f204d75ece3b40391ae895d41e84727bf4ba052e1ae0dd406
+size 184296
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..35f65b692b759d728060bcf726712891c9234b8d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88cbe644fe95a7b98e3b82b86f2ffaa6474536e2275759bfc4dccacb02a95b90
+size 76687
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d98e83945ea4e224d19c295074fc47cba130c2c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000093/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70eb58a0715f381701e34366ca07d22c8b07eb6d87cfbbe54d32d9de2ec6bf7a
+size 137790
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..95906a66d853184742c9be102028b1230b1b3724
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d2a70efedddc3dc945caef5cd4d731b3ed8bf4981b4f3a7a0e9a33b1386725
+size 76204
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51af3b1cc319217f81032670e817b4605446d1ef
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000094/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15868b483bdeaee99eb375cf09f1ba1d7001072294d5e4bd8e898249e1070929
+size 232353
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..19d63d7e2989ffd19ea265f5865ab8d3ad2c5a17
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b4c1b5e7a3db0fe367e11b8f085a3a3cf1a1570be625e2971e737bfb22b3dd
+size 60956
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c47ec84626c74f56f6b507111bb028193d07c1e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000095/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100e2f01a42ea36d95adcd3fcfe7fa50377a901ba8a30b58107d1b22f3c09a4a
+size 219258
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..e30a5e68294a8ba78a521ea73c05d58dadab1a73
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f626a1857da18e85def9c853c478f3561eac63a2f615b4658475ec1ace4be8f6
+size 53891
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..82e4dba3c10c9f6c2b3124484e51b5d320656a98
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000096/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4738eb269597812c3153ac94883f136a441083443f528f778f02ceb9992d7667
+size 158452
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..2a49f59d7606e550832d5e5111db90bf3dc54b14
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbeb1dc03903811c20a87fd492fd03b098ef9b7b7108b81a53066e30bdd7ee51
+size 54011
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a47f08e614d7d3283a3b9e3058501b5e2dff23f7
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000097/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3f1ca2bd5de055985b905c4e41a84defeee146548a323119483162d84cdf3f
+size 327223
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b0ef6e6b71ebda2ceb26b562f0e33b812d529635
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c157521fb472a41ce74ccea1e15ae257b95b3bc97288ce03902a58a93a54d567
+size 50086
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61d08ceefa3baacd838e49fe2aa7ee74cf3eedc4
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000098/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd96bf63f961a67a5d22ea41762c45868c535002780ffa50d443d40e8422a233
+size 167984
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c19d2bdabe83ae684a1ccfe8fd6ae81e9ad354a7
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:911035a97bd244d077115e5134fc89e293faf32ba8c0b2d42e362840acd04307
+size 54361
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3604809f6c0362d09f1b004b23f7ff2383b4d54e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000099/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d5f2bb8dea38b4ffea0d8e99b4880870af6f8ba2f3445b630e31e10d1cc06e
+size 150199
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a57eb4408403d46d53e34bf140be4a0585c3432a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc64b707f37963de5b4b843f3e6a1eadede6df23d334111493d08c0fda492b0
+size 62885
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e860d385ba0d6dd90b9319c1d44979a4338af01e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000100/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:882a008fa5d7cf9279fce34363844de8b0d82db65d698bffd31ef779a0400ad8
+size 286065
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bb08baad0e908ebdd514e22a8dc70d35121a9537
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0665e57a958566c23fcfdd0f5c50cf21dfad6355bc97845adf6e56b2937bc15
+size 51014
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..769e35410fa20fe6e45d638b8cb065502cecc341
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000101/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31a3ac24dc15addfa751099d01af31baabed3a3eb122ecafea2bd25e87c689a
+size 165428
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..082087f50a35a9d38cc7d8ae086ce0ea053dec6a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec1b5236428028b0fa302175933e7bc14258dd11dc6e3fa4025a847198565d5
+size 59210
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f489d5ed8f7a1e39252267917b00008f525dd987
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000102/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dade759b044f50dcb3f2e7eb2958046d5ae014c12f71592dd9b3d288e5ed04fd
+size 185785
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..62990208c755a6ea5e8c5981b8f98c366971098a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca90661941732da44ca57dce5d3b138d7bb7e4279442628939d701e4ec2002bc
+size 47305
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2544254ccba19e5e1b42ea7858b73d858ff7844e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000103/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d777fd2a33ffb7e823c10f5816b8c5d587993e41df4c591d37f977be92e19b5a
+size 242995
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..74e70ef332cb30cdd89e67e932e26b4bbc72dee1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:704c9879b98c4c1b9daca503b84ee04d314448ffe50d6d2c9a0da1c1645df307
+size 74261
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a54ee08621082f0114ebb57f718da7c5a5dc0403
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000104/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135424bf03a3ea94701744a52df13d8749d6b562cba8e33418f8c40c241ae2e3
+size 138782
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4c720df73c76dcc609466fd818f212e53c51d70a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0852d8a2860103c2838fa6b40e0bc163f75c01902d4912b7c7f41d69f7c07faf
+size 57535
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a680afd5903d127d06cb7eeff1eb1d7383f5911
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000105/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925ef8ac925268414f0fb9b8f1abfee3d287114ecbdc1cd8bac9bae1c467557b
+size 327483
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a94109118d78a57c5465e3a67e36546e961667b8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd41eff585888f1de72d584a907e1971286e14d6f5beb118668eec707b1b5c4
+size 55431
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/states.npz b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb57f34d3701a70e9edf1854b6dba40eeef34f63
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/extras/episode_000106/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a9bdaaa1a8fb9cfaa9edadc3f3d33030afc9b41ea5a6f11ff23d3b87f860ee
+size 168608
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea5085e7815c105781a9a24a055b55221e9d9679
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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:cca5d0194b06d3222bd122e939448a98d2ed3a4d2a545063f4a8f426d17f37f7
+size 212728
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dda30255c2cdef8513900d69484ed6a79dd20597
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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:fe5a5f6b512ebfd29bc635f7cfcaa8c5aa157708c56de3ea51b7a45dca56f0e9
+size 175758
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..674c0bea3329713afc79163ae449ceb27b0ac704
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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:f271828f96c82b374d1752fed3715385232f33bee3dc98f5939f945e6727223d
+size 202532
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31a7f68d3601e1c01cdca84324ffa03cc6d5526f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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 sha256:36f595af6c5bd3df1e8b83508853ee9eb5a1eee15c994b637e44a70a40d78111
+size 259337
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8394b70cac2f94bba598361c2321384fe4e9c59
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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 sha256:92804a850b92cd6cac1a41cda4b671bf6d1a05469b5d0a14b7e5073dd067ff6d
+size 98042
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73b0757cfb4952f60484e0718410148dcc44d1ae
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/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:ae75221f84903ba260604d8654c6bbf7d10a23bba0c27d3ea239b56bc55ee61c
+size 121703
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cba7981d30324f46d5905b49cf53157f8de911a1
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293357c562f1b4cd449a5a82b1f6438f7e586fd9bfb5d473819ab38a9c550bb9
+size 151073
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f78d1865efa32a6a649063dc1ca727a847311d6b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb407b1eaf4399a35b0c71dde2ed61cf21bb68635ad4fdedc1c120ef34805bc7
+size 189254
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2a4a79466424d8e7d7a7d84efc43f27bf25b672
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6410959b34e24c7a4236bd24445ce7321868d8a8f754e9499e503c958828b48b
+size 441923
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ae20e59e60aa17a26abe47f094376921a62db03
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69fea699cd2bd47caf1a492203ac1eaed8dc238e21aa67bcdc209d42fa2d464d
+size 933949
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad681601f9335fa1d89635ca55aa28b68b9fad50
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1bf3dc674f387c862cfd26148adef53b1c6745a93222c28d6f3a1433f68b16b
+size 220370
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0b4bcdb9d7e8876ad367b431bed0cea9a4a34e2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce649e285550de9e8d753f39ff2ecf2a84767b27d8facda96d6f17095c0b6cb7
+size 130016
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c10cc1ba212d1c2dff01159c797c2caf21fe08f2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff9300c3e71b2a2e4648b0e3b8a33daf8d653c9e816a5ba4e23a4841befccbb
+size 203472
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75937c09ff5d0bac9e9f07807f014acdefbe769e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f0a59072ff1a1541748b111cd40f93eed1fb6359dce26a2846dd1f509aeb82
+size 138868
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c18203b394f89d598e757dbd0b4efaff2178c96
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a867b5f404c8bd0945950230f9d05926d42a27fe0cd9c843f14fbf9cbf27cfa
+size 277991
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2a1c17820e6431e29809e62fea523e7895247d2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abfc187cbf589ee3e6d65f556df9f606c485654d539022299ebcbf65d1ef1b5
+size 172502
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3bac90d981309cb0aebfde5dfdd85fb75afcef5
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2931f4f6e357c681c0c8a1bd83597f00c88f16680cf4a28577f43c65727c18
+size 118352
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc7a20a5eaeb8429f1ec1eabbcb62a5a29f9833d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8533293241acb079da1cd29096becdb1a5f77d16392eead1af2e91ceda9d494e
+size 120933
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fc23b4197092b430edd88ea3d52f9306bc895a7
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a693b82cf9d53ace2d200fdaaa4dda71f9da7f497995993c551cda0eee18a7ae
+size 143827
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f4f6aa0dabf0e6ff213183145a55227a14324df
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927a23b30b16a079a76f35aed896979f4e9e99015450ea381cb774ee6b946f47
+size 134071
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab395b1ee3beafbe8c7a4050062c3dbdc9c49ef3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc3f5ea31a93454b62bd8aa5f9ec81df4255e71c241f6f54f3cde29d228359e
+size 109819
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98e99290115fb5360f394bb28bb96e3773a03a7c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2171ff128261317794aeab08f31cde47e490d134fb15acf46cc049036dd9df
+size 181162
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba0100c24dcf1006e19fd9fc336451fe5204a526
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd77429879f928e5a4d9950b925555686719e95cf7ecddce2c2d65a20aabdbd9
+size 169528
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d54367296f26c0de3e97c22ca8a25c6cf383da77
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a90ea82a67f205dbf0a6c8d7b00ea1e1ee0949c9443f16d9586379f7ab9788
+size 174658
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a35cf78bb89e0e0f9eb6cb1daa96eaa4ba5fe387
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6acdfa62578753fd3a7327ebe1aab59d1a07328723637fc11862cee628cfd820
+size 179186
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fd6c2cc22796d9cd5f03b6a8dfc73d60e57d33d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9cf291ba8c529f7728d00949f0e75fe6b8195afe1bb73e6325bc66d9058833b
+size 241935
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6ed98d8636da673fb21add3f6854ce8923a5e51
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea719a2e576c1583de37ccc358aba103e0d6416bd1b0c10fa9eb8aa5e9270798
+size 172877
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a18f7fd6458df5d2f814d7578c6728f490512a65
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce5a5b49463bc6de0c26b119d14c1c98aa6f61a5a8484d69bf27c9fadf468de
+size 158445
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d47526acf44a86d0f7d59b3b5c27b7ed1eca7337
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a17e58cec26254fc514e8f380bb876cbf3df999345eec6ded27dd8053e990c1
+size 139427
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..446462b0061940adca84d41c887e8e1e962d92c3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0212e60e96ef29c91ef7bde0616498a616c22ea48d2d5a3316b6bef0848dc45f
+size 143653
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea208bc0c7ae34849c06eae75f32213c17f65d24
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031014f129790575355bea8956a29971c220b3c061663ebefe97b0c6a4c00ccb
+size 170574
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4929a19e7c5265e266474aea979a4db102ff54b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7333edd6186976dee7bfda1986cf24e485ae91a7fe731cf205174ba744c135
+size 119339
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db1d745a83323592089d706768a057acdf5030d3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3841b5a003907c486629e9908616685398ec82af8a3d109743b1c888777ee3d6
+size 136072
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d8903e01cf1a03acb153e1169f2fa6e02d1c747
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4215d50059d2ede4a24e96bbde8c46b8ad87c05f8a6e1df380e8675462107b72
+size 201282
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7cd729f36cb9be09590d623e2e0e0d2ce1318d3
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae06f97eedc7ccd9bc63110597f3ec37ecc20364343370f1624ce59795ef381
+size 179893
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3c5bf827052f50865427f438ca876d7d176238c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933275f9695d21afe587c5622a8113dd03a4741f4357d8c4f37d8f239edef9cc
+size 159550
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb48275bc2e8342eae6934043d9ae3eff24cab26
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b0c91ba443118896a2e1234c1689dcdcb02cdddac7d4c81876df12ccbe4f0b
+size 984360
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d0feeb82f2926d77f39f1a58196c5ee3a59830d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f0024938677ae9edba9d814314a0ac2e8f786714ea8487087f690964d4f7c7
+size 210931
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89b0972ebfedcefab977602006b978e9d2218985
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb82cb469c060fd31e1588aa099f2049060d463166fcc8d729989d7f9362cdb
+size 137901
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e75fc98ebf4b0291ad02da9574dae6b7fef4d35
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401cab5ba3de36a174a2c5f52c960506cfa4e3c4145d7943114191d3a89f27e7
+size 151396
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8996e9df489d923ddb1635ae0df667cb8d780f5b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077234c681101b5cd101ff378d7f3fd8ce844bc4e2d06659374dca46d8ef4b27
+size 144833
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99edde9b7b79c9941b8110f8a4d87c6f991e277e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9216e7d85e880ca6ab3c51738170feb6f20f2373cf9ca1e46bc28af54a1906
+size 135662
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0722922ae2204258f3c13cf8f756834f3d97e73
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40af48dfebeec97d1a0080ba1c1810eb5262f3cc51ef4c778f12718be963da62
+size 188408
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77b0fd92ec6957c2971c1fa46ac5d0b41756a8cb
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0c9801965aef0b53b591c30799740741d1c4bb65618e205609c203b449dbf8
+size 225146
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b10cbb485f4b13d6f6394c91e4e90aeda14d2d63
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aad257fe1a005567c3b8a9671cdd864ebf6e9238570b3240afa62ab50011d75
+size 122214
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62a3cd4be1aa9f04b721cbdff7e1487f85cb885a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1c84d2b5419948eaf23892b83f0393fce805ecf81ddce37d50ee4c824fbdab
+size 137994
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06b6537e3ef222a0e229047b72c32908bd77a09c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d117fa4895129cf3a93f31c82f787d1e7e904f351eb9d801a4dd9345f0efe362
+size 177710
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9046b82f979ebd8042187d953b7077495f2c5ee8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9366406d42c5e43582d22b3690c7818ce21b64c9d3bf9158a2a45a2d35b909d1
+size 190124
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..524b763ebcacf3e636f0cad46c1b90a3e624212e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7bb6306c2459750ba8b0f13ab1bb7e450611a6359d7eda0d5269ecf5094445
+size 163249
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5b36ad90c965010f6effddd3d18edfb6fbcd81e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7133ac99e189bdd1757909ea7504af2dcee9adef180d9cdac943b50887cec8a2
+size 136540
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7517ef27ece973eeb8a5c6efeb8ec4c721808532
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f234674e57844b290de490855ee8ac498e2ac0849c5e996c1bbe1e51331413
+size 219607
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b2aa36bf7628eba0c07a2bc8151e617daef70ac
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9659cfdbb2015fd3379742b3a90ac4e1e5655a511ba2b57a4e14107637bcf69b
+size 168196
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37d662a7aa1d955a8270068d6d731c5e7a8b1c14
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7e7c13be355b3f99642b14afe906d36df0b87b5e42f7a6af55b9810b9cce6d
+size 156077
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d0707a57a3514ac1d2d4e99d0622f47d5f95d16
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ca6f536a2b7785f6baadac9537dbe7e027126f62096f22432caaa3eb635172
+size 489205
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6484e1e025ade1abac3de3e3a8fdfd1f45faf6d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14cb411c20118d92c897cf752511640ae3f90280436974786dc66ca642159b49
+size 164585
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8320f63b7b2b58953ae33d2be17d3a8cf5e4d4d9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e921991c5d585ad89742cab3b6bf8b2900dec8acd2023d76e839a7abe2c96b
+size 172166
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d0987b269ee0006a8c94b080379ec3483c8f157
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e26c1fd711af259d3d0590c2922be8800c2bd33e5efe9a5fe96bd2b367f9d1
+size 209904
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5933db0f0976c287d38c2db24d82369c8d78a2f
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180d5d76ba3d19156b3b9b7fd3d361631a5c54db06a1ee0e511b36df1e8be3f8
+size 171350
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..441b831958bb4e1d6041d060cb7a6756efe40f1e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94f6843561b22af8da9e94eff8ebb82be9d509660c65bc3bed3dafb1d4bdbd6
+size 109943
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8697ab1e094d3a0f7a6386150dce4c29facd6085
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50cac54cebcf327211d9b623ac0ef715c626dc5400693ac4690dcabb1c5a2303
+size 131658
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..630a36623965f8cff366dc16b1ba1d1a70d20d3d
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c96af093f6a8ce1f1a206ae7a8232dd1e7eb2ecb0ec58aad51283c8cc77275
+size 130756
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d7f76a1aa38306d688544e61efb5554b75143ff
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66ddfd9338c3150277cd3d047d19c84a672312f1534f1baf61ba813ef9ab9228
+size 147500
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e079dfdb7ab7d3a84a80f7c397f55c756e2e9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b436c7450c494a706fd522d987eabbfa1d9d8947db3c44c61fcd7bef9592e5
+size 118175
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..795e091bea1862afcc062dba338fcd6b139e120a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5063f5b4b25c0488738ea67458349e6ffe3574d4882159fda427561d9a1b3f08
+size 141039
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e604f73438e03c5f91cc8a56aaf3172f1d873694
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7823e80d506470ccbe82f1e3bdb04f251820f65b8e975222104e055d88582a8
+size 164795
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8b6a843b7057a057d25bb0565f13dcd7a63823e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364f18e2c2687340d35cb9f730c250de18840238e62e0050e514b109bebf7932
+size 97806
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1d46175a84212d25668f1a3d21fdcc1e090828c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d96c200d60250abdde71e87097e06d026c2d8f25159b04427a48ffc68fbb1977
+size 165175
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7945c1a570c5b75f220733b4b4007fe8ceea8223
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d76d3327c44b23271d0397b967734a70f897ef3224811575fb8d2acbb380b85
+size 173248
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b73918cf996009da79151a1fc3ba5f99398f4429
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07495faa4e17ca0a80f546b108ee1b51c59b729da0ff3f04516214389249f0c7
+size 176376
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8251f0d33d77105be2c444c0c70b63763d94c0e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21c43844abed4f147780e60b6baedc2b40659f647cbd9b0886c66edd5e40326
+size 270276
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08bdbc54e7e6e632b6e6189857cac690cd6e44d9
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917b25322ab90e303757e9e59eb95751207c1963db472ccc3bf3248711aeebe9
+size 169938
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7261c43d15a648da928dcc9f7c43a2fee4577e8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bee6d753063c80953bbfe056f2a20d20abb4456f5127ab1b94b8bfe1719d86
+size 110223
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46fee4f74a43d5a6cf924b712ba09d6d1a02e6c7
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3017fbbcdffe4c3e13bb68bc192a5f7b4a5dc134e5e6c478e8f6609c83fd8f19
+size 141379
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f99c4cf1a024140c379b70e5805c52c40707536
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77bd7ee7aeaefda11fdf641d4ab8b2bd7a710f28784a3d375b03627ea34c49d8
+size 264573
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..399c0995b8e286da13af95bf0e806069d5fd147a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b7cb492cb6f481019b27bdaf5de6c3b6a177084138236b4f413edd27a95ec3
+size 229726
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92afb969bc22dc6d147eecfdc4b1ea4e0dcf077b
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3dd5abd6673b82d0b993d6b86788b640d7c34dc589bc4ea2bfb9131d86177ac
+size 167826
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d8889f618f9eff44a6d151274d7c1c669c9a46e
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7797503f1862074656dfd9d8047442c591cac891b021f6f8721cc612d9161282
+size 302264
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8485ef621e5e83eff1617402427fa5096438a98
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1269ea9c695551781e4bd1462bfa7c268fa9292dfe30078c332440a27b68d7d9
+size 166837
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10d2cae8723501280232accb2d221bc4b59a0305
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0796973afa45e40f42b2e1e4f060ab7e7b1b2811087a981c3cef6dc7053ed78f
+size 190309
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44e8855162da84d0371422aaf70392be84a3ded2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575ec32f4f719fa44cb9963ecd9dc9e81d40ad67741c215010c9944d1b63a558
+size 263932
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbe34ba978993d2089e35a8d29f30196ec1d7d70
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dfbd313a863c60caf4c7ed874976414cc67ad6a116eed3b37367cef449eb62c
+size 124892
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b42873ceb78a06aad4fee72e0be017c7cc3b88ba
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6c9d74482ed919d64538e028447b4dcfd53dc17729b1475bfb2b0e9f68b5da
+size 260898
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59338c15583bb82ac40678f60ed2df8038d4f784
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016919545e8e46937b22e81598e583fc931be4167e3523bd7713dd12beac37f4
+size 119836
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5f893c5564f6fe136224f0f34d535694c87e490
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0bd08193a4ec65145170d3a3d9b09cf4a05ebf12f7479a800b9aa5b8832783
+size 181789
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6162e22036e6934a04e93ce37372600ab9b0434
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446da733fe26c843e53075634262de804e5644cd23744af01002b0abf824e49f
+size 148308
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c9fdd0bb5d1c7a62671327b7a32e7f4be256b69
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752cd285f60eff6e24dbb884c758c8aad7d679f0c00c3f13f6cbea6314a91a19
+size 164645
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7c6d789277f5ee339f3d4b10632600d988c7070
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a2e71899a689915fd5fde3dc1a6c500e12b4bf621b931170093d81cf8f93350
+size 167336
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..192c5966b616fc5461c1a54ca8e4edba1392e00a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764a893d77e5fc69b013c589466cd7f2749c16bb5cb580b03e10ec6479677505
+size 236309
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee540313adf7e90576081b672eb5d7d44fb13265
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f9ccedd625f0b5dedc6affa0a6ccba1c930cc5bdacbbde57d0537af1d019f5
+size 233938
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af837e6a54e8241760af18a76b4ccd1926d446d2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f2f88b576ecac686bdc684c31e1c4dcc8d3e6534c6d0cccd3a4d5cb3a6efb2
+size 172594
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e03c49ed46e2ebbbf731885b3ae8da6ad90866c
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf20e12b9acff9f1ffcb87ca7355db4f63f5b333c179bda8758e69ea1e3ef1a
+size 147879
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0400b9255c387940367512546f5a1975057e7e8
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e8885086c3a818f9aff945cccb595b628cdeb4d06dcc1f2acb55b172678fe2
+size 183430
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef4de7160df473ad96bd1ef2e5ea4fa40c90b278
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8459f5de7b9151895a9352c090a31744abc0b5d10551c5c09744a91c1eb3bd
+size 170079
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46c200b91bd07ebcadfa13de259e3b1f68378d95
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a1dbd9d27be33ceef5c4593a2e24f2f3f9516428b4e1f61220fbaafec6a7ad
+size 118552
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56d38d95b02e684b5b93e23c36121cecec7f90dc
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233c4e0322bb1419ebe4a81e152110d0fd70fc04d165ef794ff36203f817a00e
+size 111779
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dd74054539c5d3d2d0bd60d969db33b69f435c2
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4c1a870521c175c71f079cd4603108287f6bc21878059733d91c836e34b3ef
+size 130169
diff --git a/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4 b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc4d06db305abcf799e23db5d6f3c790773a0e1a
--- /dev/null
+++ b/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ee5ab6a34ac6005bf826aa0f3e1a46b5e9eadc34f2a799033d563629dad94c
+size 165044