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index 0000000000000000000000000000000000000000..543916bd0648fb102e431ca933722f7938f87bf4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1003/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.566,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1004/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cfdf9fcb0de390741e1b6fc9a2afd832487152
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1004/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1005/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8c048cf74b419d9cfd6c0ec29f200e75aa08b0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1005/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1006/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb50563e3240ff360a6904b686251743bd6cd4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1006/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.38,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1007/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc37cab7c6ba5e6a86f2187d2410ed6899717f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1007/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1008/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61633d802eaaa2b51460c6b8fdc25b7af8585a05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1008/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.465,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.465_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1009/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a362624ad5e030f3af2e750305a2c04b258cba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1009/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_101/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75ab4486aff5259b1a8822c620224c3eae103d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_101/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.064",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.576,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1010/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8c23b3f0fe1f41d02f086b7aafe364084e551a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1010/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.68,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1011/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d4daee1dcf397c17783bb5f274eb4cc27a9c6d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1011/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.58,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1012/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5452652ae5dd3bca6c85d5f6e50ef9496958ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1012/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.515,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1013/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d3434491f5f2013d321cc7bdb558c433f4a9cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1013/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.066,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.626,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.066_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1014/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f3f6f6b0cda6eaf5c7d4a142160c30487ceb0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1014/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.056,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.626,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.056_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1015/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32e8a767c12a8548e3038bd932cb666a6ba6716e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1015/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.607,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1016/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc28ad3c6435d8891289f852661d951b1d0b7d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1016/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.054,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.557,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.054_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1017/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb874b13a7b4062b3c9f8e1f30804f2e38f05727
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1017/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.399,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1018/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c06feb8a51227e466b85a633090a4015602a3f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1018/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1019/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..874b5b4cf5cd6a082874ff1251d622dcfdd34d5c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1019/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.606,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.606_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_102/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..590c0da380e6a7e9b86417212cafb97c71ee4061
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_102/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.056",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.627,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1020/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1dcf780023d8e39b1a855e0265ba010a1c6497
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1020/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.532,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.7_0.0_0.0_MultiDynamics_4_0.532_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1021/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35174c5cdb6cb79a12cde0f8956b21f83f387a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1021/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.615,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1022/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2eef5eb36135d32571d429ed1a4ca7e173f34f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1022/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.586,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1023/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16eff25a4d293250a8929b4494037ed694944f4a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1023/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.606,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1024/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc68cec5b29e427d3a86d8b315202a77c457c2d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1024/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.515,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1025/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0894dd7beaac6a2519a205a0b2126ad5f735a0fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1025/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1026/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b84d62696fecc328295ad8ced088f8baa756d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1026/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1027/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d6bce4b2386143075235ed433a38ea627dee79
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1027/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.607,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.607_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1028/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..210b03ed655f80e1c009d51c3095042d75f794c2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1028/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.538,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1029/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e425dbaed73d32399449817e84f88d4a3a28bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1029/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_103/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32bbc037a86988cf1fb1c82949b420da2323f2fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_103/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.058",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.613,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1030/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97baf58d3f8493fe71b46bf85a5104dc9e7fd26e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1030/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.068,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.61,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.068_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1031/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..049048c8823d2936108e55811a78a74bdbd63e12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1031/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1032/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc8465572726cd587f8adc2f4ed4f430cab7c25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1032/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.606,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1033/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d3a517fa7525c455f7a35777730ce67bb24695
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1033/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.4_0.0_0.0_MultiDynamics_5_0.566_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1034/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b4aeb0136673de0ac040e8badd34f29314694f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1034/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.466,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1035/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3061e56eec9ffcfc1fc5a0b735c48bbc65b98e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1035/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1036/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90daece9957c0a586eb7d8248f34dc055239e23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1036/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.399,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1037/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77fa789f377866f6724ab71fc4ba304393922643
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1037/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.466,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1038/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87865506412e1a0fc68f60ddd6684fd5ed371c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1038/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.508,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1039/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a068416aa92a2b32b4073713f62a31a16c94e8a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1039/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.482,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_104/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a45c4611f60b869b1150b93db4cc78cd678db94
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_104/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.060",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.554,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1040/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f5c078339a22055299f114b5908d345283d23f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1040/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.068,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.626,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.068_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1041/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b1560afc4d9dca79a23e2dad4cd09fbfe3294b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1041/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.538,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1042/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..415e2fe835ab60d776acc1dcd1dc60fdec5a915b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1042/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1043/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87991421c37d4817a17515e3ccce5da059d18d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1043/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.565,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1044/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2c793f2f205a69af0a63ac0d361fd7f5bb76a8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1044/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.38,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1045/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6fe2d4a0d817585709d0d5a52376a620ff9d59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1045/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.572,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1046/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ba70b7b1a4b136660b34362ea9d50b3a8142fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1046/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1047/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..681ff018aa428c1551167025af95fa6b56d209ec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1047/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1048/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15532a8d312f14f24485a9172b992eed7fc8a79
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1048/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.607,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1049/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2f78cdd5bfff235ca98f7ac6311cc01a6c8a5c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1049/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.499,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_105/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13c128ec985e0c8bad2cd414aef118c60a0b826
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_105/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.050",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.595,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1050/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c1822f1e77d26a2d15a5d06ca4b992832fa463
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1050/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.064,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.064_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1051/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c86ab09b9dff31d2f89d507a05bf7da1d083d7c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1051/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1052/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ba2a7828e1069021103bb7fc5b3c9565f50989
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1052/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1053/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ec1283d064cf56a0f5d0a88f8bcf516bb3748b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1053/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1054/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3989d773bd5d894de722aa3e5c43f3173e63a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1054/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.508,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1055/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32951e65c124ec78fced1e25bbcede90d62ec65
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1055/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1056/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacd3b950f830d87000ee27ef292f537972c8c7b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1056/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.572,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1057/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28f9c90cdf96332632af123b386a20c0a43f66d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1057/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1058/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1cf3c87044968af8394c6f6fa4021360f65b3f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1058/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.508,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1059/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ee722f44b876920f83350e9ce21c8269cb3c81
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1059/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.515,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_106/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3623e6b6cab14752592a1a5857d01a9176901f53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_106/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.050",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.54,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1060/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..855fd68d7511e383472cd8c4c609ee37b1010abe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1060/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1061/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2184cf17476a9a4b31c08584e404a5f5ebe53b35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1061/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.465,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1062/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64697e7d23a22babc9a47e5b9fc39c1bc5de8c04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1062/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.068,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.583_0.068_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1063/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..310896b32c11ad5d5c82b1a3eb404057a36b5fdf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1063/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.572,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1064/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71fdb9084b8268bc756429b3ddc58dc4fae231c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1064/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.466,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1065/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29e9c90c6343c62a71e2218c38e2e824b67d8b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1065/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1066/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a80a9d93265573f3d56cef90f56f5478cc2eaf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1066/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.38,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1067/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0647c56352436200c2c2d8a1124975519a19b389
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1067/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.466,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1068/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..159aaf4988884790eb42813b6e93dc28915852af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1068/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.565,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1069/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a606ac9ab0ecdde0fa73505c2df7b0026209258f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1069/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.060,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.61,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.060_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_107/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e205757f8c60ce9bfb6d0fc07dc3b827dcd398e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_107/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1070/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a1a2061ee5ce31db85c46c96a0a7f7e6f413fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1070/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.572,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1071/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd875a2e461f3268d5b45aa7e51dbcaaf7bf6e45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1071/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1072/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb9d9ae81b7661fb59633a30350259c8e6b4e6d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1072/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1073/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..335b202e2a49303f176222930df7542ef0ad40ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1073/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.056,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.698,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.056_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1074/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e2bd1a5b68df74df6d8a6ffe07fd97806c7836
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1074/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.056,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.557,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.056_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1075/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0bdbc109af99186be19b61a796a2a501a3be1e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1075/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.586,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1076/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6535eab7606e374a13a22c7b7394f261eac12a00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1076/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.586,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1077/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0cb9934fc76c606eb4c3301ed9c631d764034c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1077/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.566,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.566_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1078/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47b33abef74615571866692e8ca82c95537c525
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1078/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.064,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.626,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.064_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1079/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31939cd1d6666b00bc283401123629637250d084
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1079/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.050,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.61,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.050_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_108/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..655201a6678277d061141f15b1500e724a471630
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_108/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.058",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.57,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1080/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..111040a04d0eb2b212309cf1472c2e3bbb3e41fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1080/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1081/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f255bf2e472df8e43d0c2e4d4dd2382570f239
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1081/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.38,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1082/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..988f6df04599c0764150ba6539ac19f41e9da136
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1082/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1083/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed44c766b85fc151a2d82c5ba02f00e450b2b1c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1083/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.052,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.626,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.052_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1084/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb5fb6ea7f85fe7129de72612c4afd4032dc7ef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1084/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.38,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1085/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d4c8759aafdd5283aa658003787856eb79ff87
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1085/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.538,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1086/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c70bed2759e026d6d51b8407386bfde0066090d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1086/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.580_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1087/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..380b08341f8bd3f297b914ca3b3c67c345017e3d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1087/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.054,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.557,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.054_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1088/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc899ffd4b0bf5a5e39c8795382ae29c57f0bb0a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1088/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.066,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.583_0.066_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1089/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1847c1b73179e8010e41295bbbfff19a96a979
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1089/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.572,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_109/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c18d559134676536835cec4ab351819ccd5048
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_109/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.060",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.554,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1090/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3411acd1e85d97761121a2e9e8b647eec0524ae8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1090/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.538,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1091/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3934237021df208cd7d351fa95a228a947de0c04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1091/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.056,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.557,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.056_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1092/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0782a64210424802042d104183fa81c52f1ce784
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1092/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.38,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1093/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f26f5c7be653a7f12b4e8dabfb706e77cb4de59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1093/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1094/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1486cc9a400d4ef0266c356ed2201591f428191c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1094/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1095/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb772d8c8c3f2c76b0b9a847dd74c1f2f806daf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1095/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.050,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.050_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1096/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8b414c10c93020d36f89c0e2d5f80b3b95e78d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1096/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1097/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82cc5d4e2917de1a0616e28462d8ce5d93ff464
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1097/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1098/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e76bf6960c4784f5d59058f37f5da3698473bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1098/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1099/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7571d30a3517003caf28abd15241cfce39802860
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1099/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_11/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_11/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0314f504cb1ddc6cc3db55cf675414516cd18286
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_11/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.068",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.556,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_110/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3f500c16d44d9b6f382f7129d094934a2a659c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_110/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.064",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.63,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1100/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc973d2549b03a1da5da91bbe58df94aa5ba794
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1100/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.606,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1101/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63375434a855b198f423f021f0f94612fcb7c4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1101/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.606,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1102/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..107f6f5326c33568fba05e47acc1dad01d475d15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1102/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1103/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b70e45b06a3468516e3f1d9e11c59cbb94aac7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1103/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1104/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee68f24678af08844ffa2feeb479ebc71fcb8ca7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1104/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.054,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.698,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.054_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1105/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d9d8498e7c81d3d78446791456b69e5b67a509
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1105/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.066,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.698,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.066_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1106/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3036e46cc22021c2f12fa182ceab1c7c69a597
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1106/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.482,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1107/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01888021340934bb193d3bfbb7371480ea409d02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1107/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.38,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1108/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82bc89e5c7aed48b70ecbeecbc281276223f7bb3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1108/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.58,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1109/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..469c2bd5dc2304577de9a3384635a52e14e0f0a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1109/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.466,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_111/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e056e364537b59b3689fdb24c43361a6281a94de
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_111/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.054",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.569,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.9_0.0_0.0_MultiDynamics_7_0.569_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1110/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7559204d85e12127f6dd64854c259f78fac67557
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1110/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1111/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfaf3c58cb76cce08d16caf5c3238d2bbb5c2887
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1111/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.465,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1112/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68aad57bc9b955ea882d03d155e8efeb6e0feecd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1112/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.466,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1113/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b04fe568e0d526784df50ae90b53994caeef5400
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1113/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.482,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1114/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49515b4ef6b0d43d33f69f093e2cfbec246c8c04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1114/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.056,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.698,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.056_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1115/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2199f0259523f6f620657daf3d58c1f3167b165e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1115/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.38,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1116/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3902827dc72843c12bf3b19e99d3f8488610a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1116/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.052,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.698,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.052_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1117/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07014d01e027d5ef22586dec0a36502f9c07c207
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1117/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1118/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c98aafd458ce98bd0d2487666e3acde64adab1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1118/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.565,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1119/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09f4cb9fbfb14b66c07f2150a86e489b1b10638
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1119/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.515,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_112/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4229611eadb816e9ef9db861fb8a1bf3e8fd0749
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_112/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.066",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.527,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1120/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc07a531445c6fbbd7df0a6e90a3f4aa0f9e9ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1120/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.058,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.698,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.058_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1121/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c15eb8983b7069b6c4c45127ecf5b327c72a603
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1121/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.068,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.068_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1122/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a90b2d509e4530b97ccaeff40766472b6c4fbea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1122/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.466,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1123/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4996ae7b2cfae09d6963f78d996100c33a7033
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1123/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.607,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1124/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceaa2ec8d36da86ae3f2a3bc09415f1e92c748c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1124/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.538,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1125/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8249a950ad622624d1aff12b7956b76354701efc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1125/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.565,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1126/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..329dab38f8a87c87fbde433c98d0c558ae2d243b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1126/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.052,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.557,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.052_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1127/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7694c7ef391ba7bb8b745fd739bbcf8789cef8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1127/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.050,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.698,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.050_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1128/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71053f56d3388dc57de0d0334a33ca3e4280a604
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1128/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.515,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1129/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd74eb00e1c744f62b809b5d50ace38e856fa162
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1129/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.070,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.61,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.070_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_113/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89137d7ffd143c3d67a47cabf0aaedc8c04a4a45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_113/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.060",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.593,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.7_0.0_0.0_MultiDynamics_3_0.593_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1130/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e705acd004b492897cdc04b3424d41496e02a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1130/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.058,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.058_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1131/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a243b8b0be9a8e7b7de471d99935d0ce3bacc4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1131/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1132/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b3566193c64aa7d47997e5394f25e0f9fb5c512
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1132/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1133/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12452e4b280109fb7e75b4f6cc632d3d883455a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1133/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1134/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40812923fe37dc1c4ea6066c024ead3e293199cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1134/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1135/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1f75c3b12b66b131991b5827c74525553867fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1135/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.466,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1136/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca39202d978d5493455b2cde3232f490ddd0e6d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1136/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.466,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1137/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7841e7134e80e2ef91eb8fcf2fa078a8f7cdb0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1137/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.532,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1138/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95fa73fa0918c80f2d136898869c1d2c75561a0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1138/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.068,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.61,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.068_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1139/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e323fdceca13e756835fc67da9035b3d3b8946
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1139/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.054,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.607,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.054_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_114/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a06a128ef52261a02d7c2a183a4ff22be10dc9d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_114/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.068",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.593,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1140/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..174afcfd17f14d336a1c022b70ac76f253fc5827
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1140/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.68,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1141/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd6c6edab0120783d8e7dcc81d4d9acff766ba1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1141/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.399,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1142/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ccca92dde61860a50d45772e4e9b52007b4951
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1142/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1143/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a2a61075e2768137720f52cf355e5e6e99dc4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1143/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.606,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1144/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf1f96604b0402b73479050b70ffc1454003290f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1144/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.465,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1145/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..308f0f762d2c2b80bc2565e06907470aee164c84
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1145/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.482,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1146/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e305d655c50a443fdf1011e5fc20f839dde171d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1146/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.515,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1147/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c2f511b9ef392bbe7c7ee54adf983f9aa4571a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1147/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.572,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1148/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f4685ff31e01dd9e792a64ae6dbad2f012dd700
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1148/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.070,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.61,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.070_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1149/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81f542e991ba8b398cdc050e2a8b95be0e3cd856
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1149/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.515,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_115/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aae02d1b7fca503e1b80df26715132ff7987095
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_115/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.056",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.62,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1150/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a9ad23d8f324d3e97cffc0f22136748cadcd1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1150/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1151/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b5841790261cf43cfd954224375791fece6251
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1151/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.606,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1152/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f19468a55cd68568dcbfb851d2873b4950e7c41c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1152/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.399,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1153/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab292908be768e4df3bdb77fe944d1d03fe9c82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1153/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.538,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1154/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b974d46ca15e67c190af3e31003757cc9233c35b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1154/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1155/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..186b7f6ff600777bd8455777abb7a93dbbc62c1c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1155/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1156/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7939bfeb1bc72f0ddda18469a8cd2c47e7860f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1156/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.38,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1157/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..530c9aeb068c19807fcaafb6d3ae63653379c829
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1157/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.538,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1158/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71c07fbd71b0d9a165c47aea319587338d902a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1158/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.482,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1159/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc255a49001407fd67a65ff95d00ea121381f25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1159/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.580_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_116/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..849617e92d7bd93960b5f6a8c6adc2f627895a93
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_116/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.050",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.53,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1160/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d526967e15d85800aa7e71daa5aeecea527a44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1160/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.058,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.626,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.058_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1161/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1860072644076b179acde33017f30fe409ae1335
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1161/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.615,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1162/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144abc68e5555f5672b8da766c9e194482a6537
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1162/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.515,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1163/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6e73f886b714db148a9d78491e9151994faf51
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1163/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.064,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.583_0.064_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1164/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdb52975e4ffce8858261508b7c47dae3e11030
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1164/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1165/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b10fd523a809929be040a1b3ea257989ddf4503
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1165/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.465,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1166/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52383072a582082fae346514f8d57b91abcc2930
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1166/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.615,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.615_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1167/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36c8c707ab2fb9c7b74d9f37ab550ecffaec5fe2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1167/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.566,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1168/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4843167d0d8cfea5184c0dc032efd8543bde18bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1168/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.052,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.698,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.052_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1169/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a614ae0dad59ae4fa2321960316d2a6950c12bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1169/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.466,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_117/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..172ac8b464122222f8091f9a23921d407a19890a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_117/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.054",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.52,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.0_0.0_0.0_MultiDynamics_4_0.520_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1170/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd069bc15fd46025959a88d2d3d8cbd88b729c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1170/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.586,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1171/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7eaf5adaa32ed3808021f0589b9c4bfe89afa63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1171/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.465,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1172/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8cfdcef0551997caa62cbc745da072dc91f3654
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1172/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.058,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.626,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.058_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1173/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d971382dc10ad299fb021b63aef4e8143d0927b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1173/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.586,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1174/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d812037261582713a180b7cc285ddb69d63d148c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1174/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1175/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0a5ffc0fd48e946c3bd1f7c7d7dd0e4f7c7101
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1175/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.466,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1176/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec0cff05873b8de602942d38ba81df61c5514087
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1176/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1177/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b2583b53204dd3510107523d4f643607e3f8e2b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1177/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.565,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1178/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89385c4cf19fb893c132fbdd98040ed95e39da0e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1178/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.508,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1179/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bef8c53e5e1d15fe65cf6ddfff744d9fdbd9b88
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1179/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.565,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_118/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c284d7072c67d97b8effa05f75a38a06a4538e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_118/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.054",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.62,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1180/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb28830971f7423af49edc62cc082c509c31611d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1180/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.499,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1181/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..779c53e6227b4baedecb8507512e4821f29f4e78
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1181/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.064,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.557,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.064_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1182/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d53ddf396076ba3e3050b49a9eaab5e482e3a33f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1182/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.607,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1183/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ad043c030b192cfada4896d69b7e8cdcdd35ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1183/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.515,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1184/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc794fa3b7c3916ccaed8484ec06e41c403ff27b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1184/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.615,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1185/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f1d8854a6f23180242f8309d9230961671bbf3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1185/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1186/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c83babcb07a1b47eecf91c1aa01f3ccbd0296ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1186/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.499,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1187/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..549911d7cf430363df407b3537a23f02260bc839
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1187/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.606,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1188/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed58fac2153373ae3df2898aaa9898b1995c803
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1188/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.466,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1189/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e325cc542201b064f53e550097e7f11577c1bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1189/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.508,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_119/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52dc97e3e0e36f312cef4b3a19dee6d891a92b6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_119/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1190/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..440f216aafea1e4d28c465186a9da8616dd0f47a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1190/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1191/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75456cc504f4aafae65c18627c439d08b687e567
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1191/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.066,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.066_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1192/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cde5713fc639275e29b9d92d1d4b1ac75d21f49
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1192/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1193/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81f6d61101db11b95f273c8ed314ccdc286ae1f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1193/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1194/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2422da2e4d9290b10a68c04b96a805e954e75f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1194/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.482,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1195/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..144d726f3a991c98d6d8859164a20b5cccf30a54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1195/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1196/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba1d3902ee79afb9859e21a02a2aecae47ac306
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1196/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.586,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1197/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09355d5d5bee9c479eee06add2763343b2203732
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1197/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.466,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1198/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5763e486e23a5bf441ff11cf579d48b4884b26f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1198/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.466,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1199/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39753e9b91d8bc96b5117c16a363ba192b2891e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1199/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.606,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.606_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_12/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_12/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b29bb9560570d725ce27a064e458e8bacfcd80
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_12/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.070",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.56,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_120/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a410b6f7ce8f6fe87e98df16c6956ef89b862651
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_120/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.052",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.56,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1200/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf174d51c7af8418918cc21a6f863927b26440ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1200/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.058,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.626,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.058_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1201/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fac65ce0219070b88d53cd23fddf7f3835a4aa2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1201/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.508,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1202/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9c5ec2af691351a87a6116e66a67300a1a60a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1202/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.68,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1203/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..008dcc90a53e78a97c886f29bf769fbb5439e74b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1203/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.532,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1204/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec38d1470e87618c6c806ab5f571f00d9a39100
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1204/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.465,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.465_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1205/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e4c31dd91a5266ec2cdf9258b667d5a497486e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1205/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.466,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1206/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e97c0e8720695a7a21119dea6a7359b8b8b3bfe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1206/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.070,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.61,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.070_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1207/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b74bbc58560633728df8b28ff65a006ab954069
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1207/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.615,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1208/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d3b9a875453f890e22750af645ebdf6a4bfa15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1208/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.070,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.070_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1209/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f67e0b29a16bd4a231cd49c77fd1a6ee12a42b7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1209/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.465,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_121/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1018b3248732e518a0e75a072b17e5d3179b81b0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_121/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.536,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.6_0.0_0.0_MultiDynamics_5_0.536_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1210/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8cdb46140a48da54b0bc3e58c943c3985d2a25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1210/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.38,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1211/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..607d1a97bd4d7e7e4866fb29895b212bc8ce13b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1211/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1212/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..493bc1b74e0b03abf0719566640f3d58c9294ff2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1212/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.499,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1213/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ee6c543276adcff3ab8e611bd4b296e843cebf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1213/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.615,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1214/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c5a1ae1506907c7ae29c00e77aa36ab588c172
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1214/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1215/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd467f524b2ea20d67cfeb5a8c356d3f8b9fed9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1215/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.064,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.61,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.064_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1216/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81e3fcc0538a331661f832d590cf402dbb68862
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1216/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1217/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a59791d010b71fa2b51a6404d2e11bb98eb196
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1217/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.565,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1218/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f9b4fdc505a42d130711b9f177cb03b18db37a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1218/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.052,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.052_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1219/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e1ab42a8a67b6e63a09fda73ddbcf887a9ddf8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1219/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.38,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_122/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ab346417466c86a8602a62283b2b17144319e8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_122/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.066",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.56,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1220/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b19165e3bafe27ed903a21059448f2bd6f902ee9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1220/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.607,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1221/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab07b452fa7beb77cbfb69eca6f15c76195d1c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1221/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.070,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.698,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.070_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1222/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac4a3e26a1d1359e901bfe9ed699bc10bc0b59bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1222/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.615,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1223/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f661faa4634edb179eb6932d49fa33e5b3fc800
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1223/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1224/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d7e77446b1a36b58eddc9223435696b792450fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1224/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.050,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.626,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.050_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1225/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0724e6ca78cabf53b452d1c1ea0488c0818179bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1225/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.482,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1226/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..131361896021fa4b918d750b855268e62c4a49da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1226/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.538,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1227/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23ee8e4b2662dcc7e67bd36a117ff46ad398815
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1227/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.572,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1228/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4489088578d33994167d8a0719c824c3e8de9e63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1228/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1229/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b6c31e42138a7e560086d548ec2a4e8caf6dd1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1229/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.465,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_123/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..533e6c73a1d2f207d3444125e22f53a5a6fac6c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_123/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.070",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1230/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51d7d37953f87ca7ae27d605ca11e9feaf789821
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1230/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.058,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.557,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.058_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1231/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af01a9eb07814bd0ace4cf1853d266ecb3ff0ff5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1231/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.615,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1232/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eaf716dd80619877e3870b1af7dd8891d4e7f53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1232/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.482,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1233/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a988c7897b695accd59e2b8cf698b1ef36bca43
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1233/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1234/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..105313eca58a6f5db47919cb5d1886f90cc1ba5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1234/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.399,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1235/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78301b01e8660e3a41179ed8220439ae4917d4a3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1235/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.508,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1236/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3071b8c3691df284f7c411f7a4ba633f426e31c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1236/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.572,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1237/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b28f3253eb6f462bfe14cd78425e2798a6ad0c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1237/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.482,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1238/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..237dd863d2d4d25b60fbfb0d4b3fd059c0998692
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1238/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1239/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba2172e27be013931967a436397c904ee06263f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1239/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.399,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_124/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..625a4d090c7b93711c8ab1172197869b9d768af8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_124/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.056",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.54,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1240/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3bf826e64c7c726934051e1464ed2849442e7e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1240/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.482,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1241/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f469191dd24d0dc493e5623c2f8c413aa0065251
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1241/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.515,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1242/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2d87ca2f7929cb74292e199201e667a3b42dad8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1242/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.515,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1243/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d54706557a9187b9a78f26132fab29f709585764
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1243/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.466,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1244/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..025f716ed10f0a2b0c25cd0c22ffedd9c2861168
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1244/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.050,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.050_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1245/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4d8d34199f29507b3d131cb400bb12366343ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1245/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.482,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1246/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7009c56e13801c633ea9f54b61c5cf9dd86d305d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1246/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.064,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.557,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.064_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1247/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe5818ffac2e943282dca53cf563ae1d80f1cf1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1247/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.466,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1248/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c45bc5b2ed48d01dc04a491f4625f37add53da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1248/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1249/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26b4b322fb71ae34801bc0faa8e3f14c4d315150
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1249/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.052,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.557,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.052_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_125/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23e271fe2fa9af5ac370cc09bcc9bb85bb4d6ff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_125/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.064",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.57,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1250/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..656397387eb81b918576906c24375f3fc1f5f351
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1250/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.465,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1251/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8dadd064e0b82f2ad87278abecc726e8993f2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1251/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1252/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6226325a4e371d67ad3c445ddea99fecffd26cef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1252/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1253/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe2545ac8af850a29695b10873ca9fffbdb5e97
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1253/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.606,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1254/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2d3685f4acafe1bce10b2389dde5e34ba85636
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1254/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1255/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..977d396cd65e21bfb2a74f76b964802a99cf21e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1255/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.586,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1256/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6261ddd4388f308f0e85581cb5cd610259f425a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1256/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.607,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1257/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6551ce2763517d98296ac2a8ac27d57ae431d45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1257/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.508,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1258/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c76929acbebec97e4ba335c868cf582e25f040b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1258/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.465,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1259/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b27e52dd672599498fc8b22c095e6103543c563
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1259/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.052,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.61,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.052_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_126/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b46ea8128103b7b26e5c1c0392c0715b61d9bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_126/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.064",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.52,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1260/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf343c077f8d986fd4701124e386b27da9a2ba69
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1260/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.399,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1261/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d49018131f13e57334048dae01617d2080d374b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1261/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.572,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1262/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64153515c10cfd65c60fe766f223f188cf040ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1262/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.572,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1263/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ed9c6f4a3608a156efdb8292f4ad1fbcf4bc27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1263/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.466,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1264/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b73e8667d97217826bba7e1b04e7d4dded36cab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1264/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.572,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1265/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1689d740b96ee05c5e5eacd27f1819db52a27a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1265/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.508,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1266/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cfb7cec59cdbfa1b0a69208faf6f2ac5d6013f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1266/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1267/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f200e707f8fd57dbdd97a700c7d166d229dd57e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1267/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.532,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1268/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff0c2546423e61e5f75f36ee324975ea016b0ea3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1268/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.499,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1269/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e13e5023ec14169c3290a97f34333a8493f252
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1269/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.499,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_127/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fe15b6afa1134f860d43b09811dfa39ae7f88d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_127/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1270/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7267293ba7f985a02b3832b606192535d82fc59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1270/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.586,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1271/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb77a5e49d88aa7adffc035d3367160e9bf2c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1271/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.399,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1272/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eadcb98c03b7fa966fb05ba70e480f00839ab9e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1272/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.054,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.557,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.054_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1273/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbbf48d215fc3e8475a54df2b5a08244438a2c72
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1273/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.532,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.532_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1274/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c65009ad244dbc92e11895cabb9e274eb892fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1274/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.565,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1275/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d9a2be7c366a876b002a4ab9ee017fecbab83d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1275/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.465,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1276/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d0033903f0af84cf8d708077c0325e5567121c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1276/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1277/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f566e0352bee768591ca6a3355dcd28ba26820
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1277/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.572,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1278/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81db95c5d173aaae95773594e5accafaa2a36ec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1278/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.508,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1279/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c807f839935eb6cbcd669230d22cbdc834dcd1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1279/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.508,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_128/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3366f42a564537ebfce595f99761a90f9bb623a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_128/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.058",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.595,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1280/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa17ae29a6aa4275a4e22609d41c8941de5fe75e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1280/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1281/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4dcd9726b6eb3c4665d34eeb53847cfb2500fdb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1281/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.538,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1282/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef63bc854b28e9a169c67511beb73e2248d9439
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1282/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.68,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.680_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1283/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de31591ccd4baa9e16058d709cee3bfb4dec291d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1283/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.566,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.4_0.0_0.0_MultiDynamics_5_0.566_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1284/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea3ff6b041ebe8768070e43478f53cc089c4b80
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1284/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.515,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1285/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0086537d681e8d4e5c91f14ed1b09dbac35aaf58
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1285/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.538,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1286/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50e821070c5b0884c34694d90643737f5a67a15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1286/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.615,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1287/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4147f39fd65fa1e5c0e7701c8543337f2e643cfa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1287/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.615,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1288/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7a8c352edc607b7b9e55bcda1b7d595a202f09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1288/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.515,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1289/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e971b89fd7567f0c97d88630d7fbe8b2f36cd38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1289/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.68,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.680_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_129/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fecbc9375c9a6fdfbfc38e8a8274fc792037c6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_129/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.054",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.597,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.5_0.0_0.0_MultiDynamics_6_0.597_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1290/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b07dd2a8c61b5b72293fe4af226674e7c6aa37
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1290/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.399,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1291/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3450c3787c1858edfb4fa6b640d1b566cf12e04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1291/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.060,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.698,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.060_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1292/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef41b6cc8aabfa0552d1b5c30515bbac697b46d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1292/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.515,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1293/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..564d9e71f2c8b364c7d6e92e59fff2f25cbcf5a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1293/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1294/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2662fc23453a2a65f3a296e1f77c9d911f904974
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1294/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.052,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.052_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1295/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7c2d28e7f4c2ad144162fcda962cb636e56bf6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1295/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.060,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.557,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.060_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1296/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ba63a6f127d1fa827de1b69d4b7c42fc02c4cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1296/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.054,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.054_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1297/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..903e53ddeeaebc8e5b6ad520d5224bc52e8e0abd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1297/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.499,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1298/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9979790d1ee3de2046e41b72c240511821b574b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1298/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1299/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cf4ba3736e07ea5e2a5f7a63acb89d1cb77f0c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1299/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.586,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_13/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_13/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f77e0b98759a739f377bf4ebdefb83890f63c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_13/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.477,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_130/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2de92aeef445be4226ca6126c023f2dd0698f31
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_130/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.53,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1300/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36edab9dd300b332e4befdf8d81a4a9f73f5a95
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1300/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1301/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc2d26988482aaaa532f23aac753add8bf1d973
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1301/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.572,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1302/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55dfbdddbd530eb8a64e8f4acb15f6205d9e758
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1302/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.532,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1303/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bf457c440c837984d93d8f6e12c70b60d46277
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1303/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.070,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.070_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1304/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71727ca056c1ea640787e94e3bee5765c837ab85
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1304/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.466,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1305/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f39a053ae621cbd55e8915a4a6a99961a2a6bb7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1305/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1306/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a1eabcf0bea37ee05365a4210e7c6cb29dfb31
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1306/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.586,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1307/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85bd2f47170a0d2bc96fabdc8346e87e3dd7e47
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1307/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.606,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.606_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1308/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d9fbed61e7a1816b56dd790c4dda0fe2aae83f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1308/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1309/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..373ab27cac9ef28e0e1ee1b7389f8f972fc61934
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1309/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.538,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_131/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63ba2131154d7aa7e5b79ae8ef97319d061b376c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_131/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.536,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.6_0.0_0.0_MultiDynamics_5_0.536_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1310/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ea871175abdeb7e54cccd04b021e8290bcd5e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1310/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.565,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1311/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b29e835f5887b36d61573d978edb0fa23961f64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1311/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.508,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1312/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a730eaf678d54385d876f2ba90a57da0ffef8267
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1312/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.515,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1313/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..303161139511dd8081736ec5e7e53cff4d62b9ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1313/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.465,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1314/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19889bc85837296ba588ddd28f67eb91c4475a3b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1314/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1315/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eabcae569b13e60382b43355d3c3666e0a26762
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1315/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.532,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1316/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a956de6679d09a17cb2c4822d1677505b13609
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1316/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1317/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede3cba9166c538d8d242fa71c415dcf9af84263
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1317/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.566_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1318/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee9a7c19795e2fad6469dcaa4770981d6e1fa271
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1318/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.070,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.698,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.070_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1319/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..474f4b685c9b080eb65eca7d0e644b0bebf7618a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1319/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.060,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.698,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.060_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_132/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcce25e5f88f82fdf754b0312c8181101e43c159
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_132/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.054",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.56,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1320/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ec41a826c8d2135014c9b03d5e9b335a4d0d7b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1320/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.499,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1321/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d829f183093b7d76ef24117df84846808e2ddb34
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1321/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.565,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1322/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ba1489e7bea5ed10fad3c8a4404291e026672e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1322/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.615,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1323/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2ebc1cb6b02a59b9fc50d3668654ae0fb758b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1323/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.538,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1324/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f04250733bfb66509c7451324850945ebcb22e3d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1324/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.565,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1325/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..576ca95e3df4b93b51b473c3d74eceb4f295c917
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1325/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.68,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.680_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1326/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78c0643286e0506a94ec2ea8b0e07f0e9cb2334
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1326/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.508,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1327/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a0856ef820d5aa15c5258757af867aa79a09eed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1327/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.607,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1328/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5e53e4d30c966b6c55c0872c970c2d6613110c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1328/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.606,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1329/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b7b1a8b2d866af1fd61b5a659ec5cf6663425b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1329/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.050,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.557,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.050_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_133/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf6dd827d96702d6e58f0cec41be368aa18646fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_133/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.052",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.596,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1330/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f093c5d158223c5c0eae389101354d0009e3c65
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1330/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.586,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1331/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37452a4ac48a78ba46f7a2aa285581fcc054f74
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1331/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.399,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1332/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec08dd2e5d5fdd6f382f5f40424fa7f39f398d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1332/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.399,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1333/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ca66550970b97ae19a3a9014b5e57d0443bf9a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1333/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1334/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9273e6cdf279affd021807df6f6e16e5cdd6f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1334/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.58,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1335/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0054588ee617e65e378d893d05f16ccc984aa6f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1335/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.565,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1336/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46811eb6b863bbade1b71f5d1f09a5f4da75913e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1336/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.054,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.054_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1337/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41a1661b95fe3c08ba1991c1faf33b6df6e2552
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1337/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.068,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.068_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1338/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbfd92836baa8a21c564bfdd07803a8935720605
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1338/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.606,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1339/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b8d38d0b6104a644f81cbbaad4fb52239c8b90
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1339/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.565,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_134/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..432a19b684fbb101c1bd4bcfa87efdf518a6ed85
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_134/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.068",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.616,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1340/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b443fadc7b0efd09a3d09ba2b8c13e3db67a3ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1340/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.066,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.61,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.066_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1341/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60679ed3fb38fb52777158e1ff79f37755553400
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1341/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.538,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1342/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b13836eef0b79d692448f4aa2cd77cbd3668dfd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1342/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.615,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1343/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b923e1e30fca64fc75200077e25646e4f894949d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1343/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.056,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.698,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.056_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1344/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd2186d97dfaafb4a82e2c250edf6d4bbaf9f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1344/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1345/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c0f9b454a2367b2b6dddc501bf0db47995d3849
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1345/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.615,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1346/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4f43b00dbfce4ad6a4bcbaee0c91cd45241071e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1346/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.515,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1347/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..268971bd92d9b86267fef0e039f41d7c8bc77c6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1347/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.060,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.626,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.060_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1348/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0f41a3ae47ab98fb538943b69d8589881c7789
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1348/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.566,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1349/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58dc5ffbfff4d56bf3051b215ccd3c4a36512416
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1349/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.38,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_135/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8a5697d554732c0cb2b03ca5f196a4fc183137
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_135/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.056",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.569,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1350/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebc7ba00daf7476b794f4f5be1173b7644faff6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1350/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.615,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1351/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7ddd88df7606827392386cdfab99b561d117d33
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1351/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.532,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1352/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9533f63b47eb5a0bd9696c00f64fcd24e4b3946a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1352/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.68,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1353/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea293ba0fee8a6c6de4225296514c2922adf985
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1353/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.38,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1354/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..854a051002869a965576652887b02bdce0892c1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1354/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.399,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1355/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..417a28bb20f2ac8e17fb3f9d7f1e7a413956689d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1355/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.399,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1356/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5103f511a14684935414979a9ee1231fe34a346
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1356/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.68,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.680_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1357/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa63265036c38e9fe425c3150439573a4fa809a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1357/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.565,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1358/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..503a1b6c85f1487c02bc9c4743d10bb5a6b366f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1358/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.607,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1359/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22ed4e4b29bd88eabc78566d2f123bb53af32d2a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1359/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.508,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_136/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86a59bc115eaf7676ca7a8e3f34e432d1f493a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_136/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.058",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.493,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1360/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f290e17ae00bc6ee92a70f1ac813db7959b16785
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1360/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.565,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1361/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..422651f572545dc13422a8a12428cab20de7157f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1361/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1362/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32db828929f213a86286cce607e1ba4eae63a1e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1362/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.572,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1363/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbd3c42187d3f2900aa2413f156644288044ce29
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1363/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.565,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1364/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89468214c3215bf3b9edd858359453281332b007
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1364/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.064,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.064_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1365/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd650c361ea5706bee6d5658099ee3066bdace1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1365/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.508,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1366/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..747a44b06e28adc54346579b76556a667f60384d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1366/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.586,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1367/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c49437ae3d87b35bf5e63c0c45d452efa273bfa2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1367/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.615,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1368/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..789501bbc8ff67e3e81652adc99d15818a64b667
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1368/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.586,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1369/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0436116507a13b15b96ad1d1db91d67078ab68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1369/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.050,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.050_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_137/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7be78f079b3a119f9f526045ce21bfa7ce8e8eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_137/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.052",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.59,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1370/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ecb25158d83930ad287209c36d0e9d86f558745
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1370/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.056,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.626,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.056_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1371/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b98f1799eb96f6e392ff96e3f62e30c8145f7d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1371/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.465,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1372/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b73cdc4c224c68cd880d186dd08e1afd5e3de8a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1372/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1373/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b55dd4611c2c05a39f4a6e7d64d4a9f5b778fb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1373/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.515,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1374/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c0167bc89d86ee5c978adf5dff4c62d5affb4f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1374/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.565,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1375/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bee3eadac1d7f497ae35c63a8443f8d21ea89e0b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1375/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.532,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1376/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b58ac7900d2b049d52dac70ce7f1252637b0d503
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1376/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.538,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1377/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4b499bbf7b1f7aef057810493a03bffdf39ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1377/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.465,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1378/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed99ef8efd6ea207a5d7eff4aa214b76ae17ea4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1378/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.058,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.557,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.058_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1379/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56d7df8516173db3b9338988131a22c83be26b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1379/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.066,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.61,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.066_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_138/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aa634385c8c7c139fd5dca068240c6e9802bba7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_138/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.058",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.554,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1380/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6019e8052cdc724fe51564bfb78024fb337b5a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1380/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.068,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.068_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1381/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79e40b89ed67a51a58d164d24e034abe37c7e74c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1381/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.056,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.698,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.056_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1382/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96171d1180686c3dbe427442eec6666ce2b7d70e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1382/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1383/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53457e9ff51c085a013ff6790a8fdc1ae7fd320f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1383/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.607,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1384/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56018b86641b9698b355395be31941d557c9df16
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1384/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.050,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.557,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.050_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1385/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a031329024c1cae18304d29ee5bf986013fc3e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1385/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.482,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1386/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1040215ee8d4ff9fe47d042c52afd94106337309
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1386/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1387/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..416931e4b3daff04bae5ca9ca6780f0c4d31e025
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1387/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.515,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1388/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8949aa3a0ba7621d01294d755e2c053b6036a45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1388/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.052,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.626,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.052_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1389/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f941ef1061bd0d4f364cc0e3a33ad57323dfb11a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1389/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.532,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_139/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..558391fdacf830e9b86065641671b504b62fe69d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_139/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.066",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.593,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1390/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99d7ee8fb2b07947bb58c9afd46b207cd70a426
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1390/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.532,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1391/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68eda0421860dd34deeb13881258d951a8f8a269
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1391/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.38,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1392/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3a87590cee93b36fea770b0a7242a2d8805b4f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1392/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.586,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1393/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee795608730699bf94c714b465fea6c6341f668
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1393/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1394/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57396a130555144a57de0608bc1ffd41003a6338
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1394/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.465,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1395/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae28498af41b9f4d542ef11db5f8208e455384d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1395/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1396/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..205705bdee935b82fae8e2b609c84b6cb8bf7ea4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1396/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.066,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.626,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.066_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1397/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe3c3a15f1c5c39864ddf8644b5e8b1e3305117
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1397/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.050,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.626,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.050_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1398/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d0ef0ae17b3f5949bda88476616dc930f65cfa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1398/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.060,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.583,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.060_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1399/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71f993cf5b1b2232a5514954074d236fa5fffd10
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1399/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.466,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_14/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_14/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1adc603f6c4a5943e8e60e4c77381c54d5fca6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_14/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.054",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.556,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.7_0.0_0.0_MultiDynamics_5_0.556_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_140/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a7293cd2f930a2638b04018d1477d284eb687ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_140/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.056",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.56,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1400/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..780faedabb6501876d0e9fefa334916bb3433b2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1400/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.482,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1401/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af91110a4d6cd4bc590dafc60ad11caf4db78f8b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1401/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.064,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.61,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.064_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1402/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb858ac8e5655b0f8ab0248d2c3798b618fd026
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1402/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.532,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.7_0.0_0.0_MultiDynamics_4_0.532_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1403/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa71a416e6d3cff02cb43585e41a47b9a0e12b91
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1403/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.056,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.626,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.056_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1404/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..990620142dd959815e0843ae186c127761fe9ccd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1404/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.580_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1405/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec5a2a38754fa3c19647b8cbec2efc34a4a3c55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1405/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.052,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.557,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.052_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1406/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16801e1ab0820c38d39471d30e51b91b25eca027
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1406/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.058,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.698,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.058_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1407/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..411a30b12893711048fb8f1a2eba227cbfc30228
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1407/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.606,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1408/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ddc64b3529ee44b6b95ca8e991ebb54d4c0fafd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1408/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.532,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.532_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1409/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..755356391d45ffce4e46120026d368f0b0216611
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1409/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.38,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_141/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c97fa6f59ed8d9095e2a874a34ef5584ee4c2e05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_141/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.054",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.563,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1410/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7dcad70e0df0f66c2faf55f02e46866f5c4494
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1410/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.572,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1411/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..735613ab0e8a63095c75b603169c4138b7ea94d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1411/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.466,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1412/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9633242d8f5ff236ea1b92a5a7199eff383d60c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1412/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.054,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.698,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.054_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1413/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e767dbca529afdb6e6caf94463842a07e3a950
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1413/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.050,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.61,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.050_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1414/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7e6b5557a9c4af53d757c234eee861ebe1ea16
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1414/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.538,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1415/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b9969756f426cd4258c7eafd3282df24657d083
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1415/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1416/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f8fca50abe9f3e27a5a927aff215016ede676a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1416/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.607,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.607_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1417/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..358d46333af69023f30074e1d025d0f64e29691c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1417/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1418/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2a11dad618cc5f4a13f136007460473e664669
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1418/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.4_0.0_0.0_MultiDynamics_5_0.566_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1419/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..929c5dc12ea5b28621c72d6846b1e2750a24ff90
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1419/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.538,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_142/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35000bb36d81d6c12f118beca37b933f7cde2fc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_142/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.054",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.57,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1420/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91c12f119310c872a1a4224d75a62403e037886
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1420/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.399,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1421/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e25cf5b6979a450ae19b308bcb300e7ae085547
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1421/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.606,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1422/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90fb08f7be264939428d49fafe5246ff5d21a0d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1422/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1423/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b4cb8dc2db178177e89860929e8bd9b7763f12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1423/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1424/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ae379c73276f905b789fc32ba6b0f619d3d95a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1424/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.050,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.61,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.050_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1425/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d102e431ff7ce4d5e5c54482011e376e3004fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1425/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.607,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1426/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af86a81c43b47d17c1948841db6c50d89274fae0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1426/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1427/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d496d438ef3e63bc8513da951e2fe7641ecbd350
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1427/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.538,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1428/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0a768c2df3c697cf283123a7806ea11c4d2307
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1428/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.38,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1429/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c63e16c50a6c683d5cae5626bc2d779ed21764
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1429/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.565,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_143/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70853fb6c6889f5db980061d3d8f304eda534b7e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_143/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.060",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.547,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1430/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ff81be0eb700c2d89c480115ee8ffcb732ad78
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1430/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.606,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1431/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d129a2cd8b255be00f016d3ab80555ecb9b72eb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1431/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1432/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50870aad4f8236904ea05dc410de89f9e76b161a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1432/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.499,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1433/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78867c911c57c0a40463b9ca3e2a8470b7fdc252
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1433/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.054,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.61,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.054_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1434/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..748acefea0fc2726f7aae4787a529aa5d86f25d5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1434/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.060,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.557,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.060_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1435/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc970cd031b4bbd495b8f087aad18d45557c0c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1435/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.508,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1436/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..335030432dab3ab4b0194e4e972f3de9f0a77263
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1436/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1437/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..082aa6232bb2bc8315f76ade8235bd79a44129ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1437/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.38,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1438/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ae59fc6aaddc639df96e42018590f9d0a9024b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1438/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.068,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.61,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.068_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1439/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c35e2a321ac159120a39965843f427496e9b17c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1439/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.399,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_144/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6266c81b607b1710abcfe1138100d5f74f740e28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_144/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.068",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.493,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1440/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f95318f56416b8449623069358f3512a51b3be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1440/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.052,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.557,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.052_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1441/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b69e6d9bebba9a3c92c3ea0203efbc0bfba91e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1441/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.499,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1442/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a56c08400fa537049546b4f58777ecdf6b753c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1442/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.580_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1443/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1392ebc8108cb8dbe705d055188c230fe4e85c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1443/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.532,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1444/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..663fc93d345ab27149c80b02746e6dec7218c5c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1444/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.38,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1445/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..797ba94a71ea9ecee6c07e18c5040596e83811e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1445/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.060,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.060_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1446/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee293f90f2896ae6f28f3c12b825ae88f2314507
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1446/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.68,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1447/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc54ba47c762019d05430184a08b2e406a224ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1447/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.532,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1448/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..505b2271ad0ddf2b13e4f62ee3dd32d14c2bf80d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1448/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.607,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1449/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a372ad86ca35a54629844d3fb99f404ec20c8967
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1449/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.565,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_145/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23cfb350abfccc96dbff30314e316468b692a44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_145/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.058",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.613,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1450/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..243ca52c26dcf22c4b891d5778c5ffcb12cb3a0b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1450/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.532,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1451/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5dd5f14dda58b6d254476bf4b9fb9e76278ef52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1451/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.499,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1452/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee11abdbf7290b72562d0ebc45bce3679766720
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1452/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.586,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1453/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2f815d77983d83eae077ca066a89a5368afb19
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1453/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.054,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.698,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.054_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1454/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca2f60da1f6c47bea6b7672e94c9e35809412601
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1454/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.38,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1455/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54ec03f6517126ea1d281c7a3bb22b6a1de0a39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1455/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1456/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7053581326617a0416deca1eb9597158fdbe4f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1456/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1457/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75aff92e207bebfa4999f225bf60e7414c8a4ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1457/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.572,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1458/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc0dbb83868bd0bfea146fc60abafb25d06bfbec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1458/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1459/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33e5ae9a35f5dc578547b6d00c4d934d4f69f89
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1459/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.052,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.052_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_146/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5a9ba3b63e28da275ee2b519943e641c1432b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_146/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.060",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.536,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1460/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e2f91b167f93ba9e1c0f8efdf1b2781dda841a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1460/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.050,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.050_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1461/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13ecc1d320e19850be4078ad27aa9f317d4f8d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1461/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.050,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.050_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1462/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c488c1dba066506171570582fcd708de522a452
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1462/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1463/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3239109ac353aea58bfd8eeae891a3cfe48dcd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1463/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.565,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1464/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a873fba3fa00a4c674ea2eb655536a90173603da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1464/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.465,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1465/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c8733885729d008940a520ae1e5136e9ac5fefa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1465/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.607,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1466/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8e814b4a065b02445e5954dd8dc80b7df10e16
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1466/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.580_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1467/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5d39783fb9540f9b18014e55ae60aded5d9367
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1467/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.586,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1468/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42cc72c52701f3968fdf1cc79a66324054f9573f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1468/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.064,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.626,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.064_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1469/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe2dd4731abd0017b78a47e01cad6c0d7061363
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1469/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.064,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.61,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.064_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_147/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf753d10994cb08ee3ac2410bbfd27c3cd7de3f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_147/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.050",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.613,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1470/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a658724b2f30cf93368cc277fe0fa5febe824b3a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1470/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.606,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1471/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73561359fe1e8af5a41ee4f97c31ec56d21272fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1471/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.586,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1472/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81747c1d0da697eda44674aa3afc4b235894622e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1472/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1473/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8e7c3a1e457b89fdcd0c4d6153f3b1f799c91f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1473/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.586,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.586_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1474/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9281334078e513a55d9d11d6b057cb678528d0c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1474/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.615,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1475/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f572d8e14d919ae1a3cd8f177bd69afc603ad78
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1475/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1476/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0245efdb74ee4ffb2a15546b38e4e7506600417c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1476/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.615,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.615_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1477/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..356d6bba888c69baf267f894fcaf04c1bc01e57f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1477/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.532,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1478/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e51a0af08b843bdecf7e8730135c662c175e4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1478/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.066,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.626,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.066_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1479/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..163e7ffa21a9c7da5c94cd2bc1ac3f79bbe3715a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1479/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.466,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_148/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0c1383d81c4db6b8621cfea40e483a5cbb646d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_148/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.066",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.627,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1480/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa13f15147c74ee03500278f26ddd51fff62e0b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1480/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.68,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1481/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd7a24cf87ea5e60e80d10eef1a8ce7375b54f38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1481/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1482/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53485985aa22c551b727b3709a1e1eae1425dc96
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1482/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.572,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1483/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b7d0934220e4b887b7502eb68a831f0b08a3e6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1483/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.565,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1484/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..310d49c668dbe018d78c2db2c98ac2e9fa629fc5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1484/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.465,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1485/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70b1f7e0afa70b7a7f19c5274ee29975044e63d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1485/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.064,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.064_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1486/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86c1ecbf2361d4280c0d46b666b384732d69e59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1486/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.058,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.626,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.058_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1487/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..871e08a7370c5d555d5fab5b421b7e20c1f8b867
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1487/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.499,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1488/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a66665ba4b563c3be0685cc135a977af87913e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1488/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1489/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b19884d78637a787c2bd9587ea21e656559d2dc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1489/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_149/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0380629b55d448ce71f72907021014c57a939073
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_149/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1490/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac2d846a1356483a9c82ee55293235a62e8953a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1490/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.565,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1491/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b83b3a361a9792c8e1f1f3d4c7f1eec5f86ed7df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1491/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.052,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.61,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.052_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1492/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a186e040b16d335d7810f3c262b1912cc0ab434e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1492/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.068,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.626,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.068_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1493/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b02ec1e2ac3343f4785a76ca93f58cc478764f05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1493/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.052,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.698,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.3_0.0_0.0_MultiDynamics_1_0.698_0.052_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1494/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84607b7ed0a835adb77963a72858478ae406df5e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1494/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.606,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1495/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26fd9736b081768fb29573301d1915fde1e6f448
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1495/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.070,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.070_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1496/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e326e3572bdc5821775003c06ef56d7d9d61ffb7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1496/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.466,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1497/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40dfcd665df8506be7a4df0125682634e314e60c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1497/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1498/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe106f6f2645b17c244b8dd7198a73586b5a9f2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1498/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.058,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.566,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.058_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1499/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..068a796fa8be024ce4467e72780c679569aed51e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1499/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_15/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_15/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ca622406f9a733a14080dd83ef220ebbed75639
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_15/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.068",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.596,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_150/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7c72deae20b1cd2f3b30c3bc0213b2816a9d99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_150/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.058",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.59,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1500/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33d18b0347b4a2100c2f6f4ae05f3b9abefc29d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1500/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1501/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..718129ed4f9dd0f45f9c51d83049941b7e751266
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1501/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.586,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1502/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42594039efa9e63d21a9aa9354d3cbf7124d656
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1502/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1503/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a02fa6c874d450803130cacf3632ac0e0f43cca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1503/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1504/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd79a87f9371272305abdbb90a62ded9bd177450
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1504/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.565,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1505/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bd73c4f8d06603b80fccbadf14ded40c475d7d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1505/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1506/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a17b863ef8974fd55ff813fb33093c1c946e58e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1506/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.538,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1507/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ce83cb0635428bf8f46a6857ff488c9fa455fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1507/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.068,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.068_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1508/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82c42fe7472265ef3c1c2149514e9a732fae0a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1508/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.508,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1509/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9e7de55938c7c6ce1df4f18873f47b1ee98ea0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1509/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.515,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_151/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af3b992ee78cd36243c88d038d64a31a99f1492
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_151/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.052",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.527,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1510/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd4ae06a2fcb999c9b44b4e0a3e736dc7d175746
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1510/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.606,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1511/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..917a904818c43ec722bb712ae4f69125a472d764
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1511/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.056,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.583,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.583_0.056_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1512/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b62a67ded004085abe6813dbbf8e5adeca411969
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1512/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.465,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1513/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..854b3c6979f2247b0d80e28ea9d9b28cae64815b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1513/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.565,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1514/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73aa94ffdf8ade03e249c732ae919ee949d6d03d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1514/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.586,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1515/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15a57485fce7b9d7d6aaac901019d74036e6f388
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1515/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.515,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1516/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..126ea4836578e62983ae993bf9da8ea274f8b7d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1516/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.566,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1517/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0cdc681c8e080f12274201c969ea66b5da60c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1517/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.499,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1518/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2fdb8bc7be2bb95f037ceabd9a373bdc8e79add
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1518/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1519/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9677029adfd79e9832d9e43d59bd8cfc6305af5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1519/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.532,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_152/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef487508386cecc7cf7f7a05b32a8e2dea9258c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_152/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.060",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.52,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1520/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc006b9b64b139f8f64d24581c7d108e9c3a4e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1520/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.070,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.557,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.070_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1521/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3898dcf0875303ea79d935678606325744f4a1e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1521/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.068,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.61,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.068_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1522/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..150cbb32aa07d30d27bfc4f183f5ea60a66f673c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1522/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.68,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1523/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ef18f67e75c7acffebc1580aab8154d8a58bf3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1523/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.050,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.557,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.050_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1524/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84063cc86a2cdca337dba17389072fae35a86937
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1524/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1525/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee55c824277fff1728e226e9775052ae18481a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1525/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1526/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..269985080145c4889aa2f2f2dc7d10ad194609a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1526/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.515,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1527/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a200a5815e094897001ad86b383e3ac7cb168ce5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1527/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1528/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6526000a692ad226d29f00c1fbefcfc711e1375b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1528/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.607,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1529/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e6a22373f2c851118ffa649f82efa9e7328b69
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1529/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.586,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_153/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b400814cafed9d1aad4630e50cdae664099ffd7e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_153/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.054",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.516,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.5_0.0_0.0_MultiDynamics_5_0.516_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1530/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..989af505599b5e525789eaabf7c2e60de9b7d60d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1530/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1531/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fabbea89a91633067d0c4444190be3cc839e977
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1531/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.399,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1532/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41bf5e96b9cd3594b6b270acf076526ec073472c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1532/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.606,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1533/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..866841412dcd4922eb47e728f0f358edf7a18169
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1533/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.482,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1534/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f90d24fd9da850078aec7d7565ba32d27924f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1534/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.607,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1535/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8056992965fe32044f3aab8dbdeb07c8ee66c0a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1535/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.565,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1536/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b5b0bd7af1121bfd90cda7127eb31aadfd9170
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1536/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.465,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1537/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e442e4143b345a459b27831f4d31757c7101a982
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1537/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.060,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.626,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.060_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1538/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab156962d9d67c103f7b0224ca91a7564c7226b5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1538/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.064,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.064_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1539/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abcfa5ce2a24deb75f406ecb0926ef27271969cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1539/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.538,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_154/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..159db6c9b1d7d25443972269d02b907f6a5b0a7b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_154/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.536,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1540/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..685d4e061c887fdbc731aed8bad6f99fb65f0d79
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1540/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.586,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1541/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59388285f5440988a11fd71fa6556ef806e5ba81
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1541/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1542/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fad6548d101dfcee02171945ab840b46916905d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1542/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.515,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1543/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a657d81992d8cd43327e308a91a31a58331f625
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1543/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.515,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1544/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b604ce37cb99f7c5af04e964b3be73c6a07118
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1544/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.538,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1545/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74a7740e0f62ec05115d520c9b530cc10422e744
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1545/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.499,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1546/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1220276b83cb1f3c6338b72b0be37547e53ead1d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1546/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1547/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1cc21b41700627b197fdb573b031ee0c159050e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1547/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.566_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1548/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..277334116ee3027fb68de9a503f81f52e3328c43
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1548/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.538,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1549/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ff46d88b53b3e8ca7b3438db36262bb4dff066
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1549/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.399,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_155/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed78a1378c2c1f67c0720c54371e51e42b8498d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_155/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.054",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.63,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1550/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a77d27ce7af14c4b106c6b2e34507310d0e2f1b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1550/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.508,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1551/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a3c272ddcc237f140463709bc04a8a1919432ef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1551/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.68,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.680_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1552/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69722a387eca677a3feeb8ad99ce7d3b6f1f1307
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1552/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.606,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1553/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cec9a92b92380ffc93ae11f445145b49915821e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1553/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.482,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1554/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47b967764a7897719736e66148c8ea0a4ef65eef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1554/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.580_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1555/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7de89edc6930364132568a4bedd66dbee9de544
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1555/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.38,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1556/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e09318981e5c982a2e0a48eb0bd50a0795f9cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1556/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1557/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e85d46b54790a6afc9b2331848a11155760bc2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1557/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.566_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1558/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7acc1d0b95b23f125ad6dd63d8461100f31483c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1558/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.615,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1559/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1acac79fc6aef27d50aad373c2f9bb61d1b7456
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1559/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.538,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_156/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f10b8526b50014bfdc5aebb1774408d5a71d2f2a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_156/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.066",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.62,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1560/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1ecc3e144583b7016b4a3c8da09d55ff88a44d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1560/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.052,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.052_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1561/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ae5d7595666649d7eb734cacd2db3d89a95029
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1561/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.056,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.626,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.056_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1562/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d8625a7a42dbed8a207c7c0925f8b14a654093
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1562/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.572,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.572_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1563/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa8c3330c6edfffd4469de7da6be6432eab2d2b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1563/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.508,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1564/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ba59ad69f3ffa7baa1745930f3fa17306504ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1564/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.054,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.054_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1565/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd805b24558261345d9d704a3df0bb8b4afab5d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1565/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.607,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1566/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..237e09726c00b958730d912ea6eadd453d7509c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1566/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.482,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1567/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..017370bcbe532ff769ab97443d8f2b1e0d2b9419
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1567/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.050,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.61,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.050_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1568/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7b306ebba06fd7a0b97fd55ebe7ee092c23a18
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1568/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.538,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1569/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f9e9201d09009be0c80231f093d8ae9df3810a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1569/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.054,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.054_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_157/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a2de6dedd3037780bfd166413167826cff1ad0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_157/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1570/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f03001a54f4926689779775ec64da4261a3108e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1570/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1571/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..381fb9350a06a24bdff81dfcb4beac302807cc38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1571/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.606,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1572/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e5b9c1032427ba236245989e27abceef6d6eff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1572/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.532,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1573/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b8c953b77b1c11d1c0d68d40287565ffe01495
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1573/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.056,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.557,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.056_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1574/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc14ae793a18c84edc48c797f7dcb3733c90e49c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1574/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.572,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.572_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1575/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2475811b0fa675f81f703e7493a396c597187c47
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1575/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.482,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1576/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86815385080fbcbeadf000420b6e43d2973f4a66
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1576/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.538,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1577/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e874fe9357d0f8759c703c0104dad063cdd334
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1577/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.465,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1578/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ab6d31f09b92c74a649b0c6f11a3c6c11b9dd11
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1578/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.056,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.583,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.056_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1579/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74c58b67085a6fb87f29f48cd75990a87ede2fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1579/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_158/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90a9a6d5b5ba3a0e4743d1fcde20516df866855
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_158/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.066",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.493,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1580/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b38c1b47e90e79d3b2763a17f3c3585fb08e58
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1580/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.466,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1581/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..154c4d084549c01086d44572c09749aeb4ef7fc9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1581/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.052,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.61,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.052_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1582/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bd96649b0aaae57dd49bf6dd43c096edd1131b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1582/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.508,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1583/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd42fa9b9fc1360cb90c6a12e22e303ab77399b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1583/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.054,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.607,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.054_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1584/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b349f18226802a829a59f39b1c7d990d836d94ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1584/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1585/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f71f91ce42e4c3a3c7c5bd21e3302f96cc798a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1585/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.482,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1586/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deaccfb6cee7b6a593af7649f180807fa519596e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1586/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1587/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f01df0d1b37d136b0c02597b6c63ba3792a52a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1587/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.38,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1588/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..884626518c4682332841d0b6233669a4e60ac409
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1588/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.515,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1589/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59c43bd09a526cace6008af8be45968870323eb7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1589/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_159/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d3bc03801087f72dd211966f4d48952efe5245
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_159/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.060",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.595,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1590/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95d7aa246d28f57b646e005116360779c632c9e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1590/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.070,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.698,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.070_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1591/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4573834dbfbca77fdf758537a292efd2eaf0d54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1591/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.068,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.61,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.068_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1592/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f9c261f425264dfa95e1879998d3ca8f7a77f61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1592/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1593/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38872386495258e723c00ee8c9422c0bf8579a36
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1593/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.399,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1594/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44c844662498a457090a00e7e6a6588e76304e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1594/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.050,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.626,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.050_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1595/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..238f7441be7ccf07747b841207401f67a3d03004
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1595/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1596/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a7692298a36de05b601a9e4f0bdca919bda3c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1596/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1597/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f8e25e0831faa5c0bd3c83a8277bde70773a4ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1597/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.607,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1598/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e047f1d6be28799ff4c46983b82e65a3c3b7fd3b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1598/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.532,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.7_0.0_0.0_MultiDynamics_4_0.532_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1599/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ff20ce32b91871e1a0e4beab761f3343eefde9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1599/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.052,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.052_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_16/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_16/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68562fd35c787802a44c7e7d5e20603ce1d406ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_16/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.066",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.554,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_160/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8087e6c0eaa9dc0ddf8c9e6ecd3ceebff52c224f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_160/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.068",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.427,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.2_0.0_0.0_MultiDynamics_3_0.427_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1600/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75485075e0d6530cb998012a50eeb372521bfa27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1600/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1601/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f3d375fc35a3a2a9a00075e93549ea2b74d259
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1601/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.465,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1602/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8932c0451f0b71da7685b5c5d439b7cece2888f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1602/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.060,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.626,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.060_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1603/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc362494b403ec4ad81307a2e44159bae75028
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1603/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.482,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1604/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc3e445c18a78a6b6f6afed97230ef88dcb9e1eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1604/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.538,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1605/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea783f4bc8d17d889a0462736800aafc096d139e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1605/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.38,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1606/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..324a18036ca94a755168f7a96f459fd4c05ba939
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1606/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.68,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1607/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..746def697fb381d19b5545af8813ebb5a5f7c0c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1607/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1608/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f37f1dcc9063bfff90ca5a9f389325eb14c18b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1608/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.508,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1609/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e2e69c79737d0927095829463d298aa61edd55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1609/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_161/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..173506032ce3efcda4671891ea034f259f00dbff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_161/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.53,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1610/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..403ca8d6f98a38d5813d3677720c0e38dab4ca8b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1610/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.586,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1611/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35214fbd5cadec7709da59353c5d6693820cbbaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1611/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.060,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.61,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.060_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1612/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd666c53ce34bdf77d810d6d95e94e9c5e1ceb8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1612/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.054,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.626,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.054_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1613/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f2a43a84d344cbf900df19f69321deb90619f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1613/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.399,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1614/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f942dad7c99f0a77c94eddd37c93d3b0651da023
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1614/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.565,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1615/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95dceddc5a6d2f953e63df0f4594bfae90f2b18
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1615/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.586,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1616/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baecfa3a77de8f3bc23d8999679b608be8e5aaf6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1616/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.606,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1617/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c665acc8f5452e044971bc06c4d7f312c5787559
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1617/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.565,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1618/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a958a65ac6229a578016991fcb28079b38c6b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1618/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.38,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1619/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09f92c85454d08e7a4311456fc48dfbe138c111
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1619/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.060,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.607,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.607_0.060_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_162/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e729376f32d57e4d8256e5d95a165f962736837e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_162/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.052",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.59,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1620/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f3692e663db4ef6beeed6e2ed360afbdc8edf9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1620/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.515,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1621/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e77584e57116a58b45be4e174c40cdfcfe015f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1621/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.466,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1622/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d6277fc86105a30840dde99e831fa066a565e5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1622/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.586,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1623/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c53a3a1173f41eb7395a207ef2769eafa77b360e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1623/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.508,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1624/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0699f147c28f309e4fa08f058267999fb628f298
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1624/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.68,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1625/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef78ca0e8de435b9afcd6df66c7bd37e24b4f0e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1625/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.68,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.680_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1626/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0af17baec4c8703269dc6b3ac5c8d7d3cf34ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1626/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.050,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.050_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1627/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5863e8c0289ff26117a117d0bcaf51ebf0da7ab6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1627/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.572,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1628/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e654f65f50eef71153fc5ca04ae730eb97a4a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1628/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.606,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1629/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5785a3e71bd75cd9ec7d6122b5154fe259a37f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1629/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.399,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_163/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45674519f51777802f1ac3cbc15a4f384cd824be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_163/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.068",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.493,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1630/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a89efc71d12a4d39c64a7f8f6805343fbc6e88a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1630/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.068,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.557,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.068_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1631/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d077e709a24180c0680b51ee4aebbc200c12d8e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1631/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.515,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1632/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c2834ae59424134219a48da11cf51e3fbaad391
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1632/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.066,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.626,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.066_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1633/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..226260cbdf7277e27a90d210a5e22c8d77b40bc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1633/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.586,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1634/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9308c99a91e13df295e9c31d8962b8b0c326637
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1634/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.586,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1635/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00cc6e9724e698f6f051a5389506755d11e37f7f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1635/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.532,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1636/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2475c6aa50dcef52b9a96cbbac9148f2d337826e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1636/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.68,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1637/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c80f97aa159b4b77b400c8b294302e83afc3682b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1637/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.538,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1638/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e43399a845175a444511b532172efb767ebea8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1638/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1639/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3728ddb28af06d83ec92196f17f90f7cc113af82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1639/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.607,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_164/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1f74b71e5db86c52097b0fbcbf65e6ad93f9b7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_164/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.054",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.576,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.8_0.0_0.0_MultiDynamics_5_0.576_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1640/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96fc6e870ab82c2bde24a637ef7fab2bd0fecf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1640/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.508,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1641/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d1723cf9a6bfd31c32ff1af37a0fbfc10f6fe1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1641/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.606,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1642/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6047e984bfed410924311eb149482f962225d6f1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1642/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.060,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.583,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.060_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1643/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f0a325a614a19dc5c69b6ca3e4bbb3222b3853
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1643/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.606,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1644/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0d53aada956e208f8ad059fd5d2408691b19f54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1644/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.572,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1645/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3248475d63f76840b6226d21352cfb8334838550
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1645/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.68,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.680_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1646/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64ffca903f612fbf8c07f98fa6400fd32821084
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1646/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.580_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1647/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..982cc4e114078f1c3b35b1e01b25a26cf4a7d11c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1647/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.058,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.698,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.058_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1648/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9220dc722d41a3ffb1933c1c59450b220077f67e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1648/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.606,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1649/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cef086b168b6535ff6e1e19423538df33feb3d3e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1649/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.060,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.566_0.060_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_165/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..254125775847323796558afdfab8a2f758e94295
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_165/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.066",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.63,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1650/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e50e85acd0a82e24fd83bae2aafb109195d6ca1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1650/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.538,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1651/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0057724c229ba7757363d503f602d7fdba02147f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1651/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.515,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1652/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b918874d204074524499c13df3143932b137cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1652/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.399,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1653/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..961a5c369cfb8c51646ae98c799201048e0639d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1653/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.565,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.565_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1654/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..037f879b278082e45b33d03b02c0b05b7898a592
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1654/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.399,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1655/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2605dd0ab7c9d90fc8521c1eabcc2e655461e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1655/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.060,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.698,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.060_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1656/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..131e303522a793a60350cc0c32dd9359521d89ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1656/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.606,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.606_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1657/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da480771951979468e164aebba3f62321ba83c03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1657/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.058,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.557,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.058_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1658/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd5a399e64e64df1803760937b16c29d427ebda
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1658/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.064,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.626,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.064_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1659/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bcc1bf17f310bce087f048667e6a8e88e9ac60d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1659/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.399,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_166/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f715a42f148902c5a112bacbaeb307c9b1eabf1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_166/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.066",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.597,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.5_0.0_0.0_MultiDynamics_6_0.597_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1660/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5e0b133757721d40ebefbe50eada5b0c56d7758
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1660/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.566,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1661/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35aced2ce1d9228a9a3a31c3d6d3343bdb2f1827
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1661/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.054,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.054_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1662/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5564a51d223c5a724b288dc85c8ef9bf9c80b96
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1662/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1663/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24a68082988bc7c792aae96b4f5ad603f33340ff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1663/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.508,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1664/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc3c46f6a920b0cf1ffe5d445b5b93881502f11
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1664/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.508,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1665/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c9c711b67773522294a2ceae28b46b81933d652
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1665/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.066,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.61,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.066_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1666/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..672b660f4564cb850f1ebe60b01e2aeda89bd15f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1666/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.399,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1667/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16b2a07eda16ed3db4b4054ffad309ffd95dc260
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1667/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.068,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.538,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.068_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1668/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20fdbb583c89ac9fa044874130ef62b47fa12091
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1668/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.607,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1669/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9284f02fcdd727fa4f5977fe6df4f2e09bcc229a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1669/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.532,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_167/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c477c30c1826cb2a03d3b1cefd7252b97d941e0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_167/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.060",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.576,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1670/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..734701597263f01791938a71a466b5a6e87ff712
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1670/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.38,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1671/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e46f620f15e36623d3136c3cebf985078b7786
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1671/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1672/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..410dcc5549955d897bbcc7eebdafbb20cb150097
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1672/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.615,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1673/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3dc52ba202a3aaf78530ec30502c14d2373b4c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1673/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.572,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1674/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecfed5d963e768e7daafc535fdbf66a53550a3dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1674/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.515,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1675/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eedc2df0db1a42f0e1e993036d4b5f4217618f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1675/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.399,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1676/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bddeeda3de904bbad8f3104179ed094bebabe137
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1676/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.532,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1677/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..469eafa32cf7db00f29f5394a9e0686a0a8c6902
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1677/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.515,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1678/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a430fc0a99e409344958215a399ca5d5e1094a1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1678/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.482,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1679/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df1f736aa5572fff4bec222b1772ec469f9a014
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1679/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_168/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd89d91c12885de20a3c88681c44b6ab52df45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_168/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.058",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.556,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1680/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c05d8a95b9d3c26f659e13c98d11b9ffe7af4b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1680/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.499,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1681/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42168fb512ea1fae478c8156b1f1729d6b6ce16e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1681/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1682/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35a25d081acbf67ec5c0a7b9eba50a427684325
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1682/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.615,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1683/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92f0ef458315465277a44cd8353b9ec22c57e6ba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1683/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1684/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..956ffa42e4928e17923ec46e31353e339a420e5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1684/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.515,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1685/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7a258eab97408da3c58f70f009452820d26388c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1685/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1686/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11bd769a3d111e9aa274d3f412e6eb699b7e7795
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1686/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.054,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.054_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1687/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b59698b5f9c4797e16ff64ed16e3b612c1470f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1687/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.066,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.557,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.066_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1688/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfc1ff2404e48e87d3d36f436147bbd1aab38689
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1688/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.586,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1689/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3bb281a4a93cca89e59d15656dc45745934a013
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1689/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.482,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_169/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f909b23bae69c3014983a58cafc394097ce9da5e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_169/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.054",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.57,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1690/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9e7629dbd93cddbefd054420667fc2bd26af89
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1690/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.68,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1691/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93bc14642cfc7db261e6f1f1ee0156b575b126b5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1691/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.466,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1692/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a61365de40e88db0d13ae07a672fda5d54483f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1692/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.572,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1693/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7ecd63d7e7486f7cfe4df413f4169ab32a0da7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1693/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.615,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1694/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74cccdba963e0158c701122b282b52d138e640f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1694/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1695/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93291762c9f8a775d488844f0a40931d5f3dd5ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1695/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.499,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1696/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53bfc1d7732ffae1e144317e2fd3e78ab62ead38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1696/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.565,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1697/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b28af6088a1f8d2478f4c27296cb4ad8ccf6dcf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1697/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.499,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1698/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34acab165b8f7857cdb26a767495531db7f2db24
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1698/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.399,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1699/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee9d7c149eba0b2840a670a379274b52f31912e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1699/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_17/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_17/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44977fa25a17f8d1d5c26a201ab286990780eb35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_17/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.056",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.516,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_170/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1e5c5f44d45161d001e99b421a0d09fa50dad9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_170/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.068",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.516,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.5_0.0_0.0_MultiDynamics_5_0.516_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1700/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f59811fa1a81c9ca0ef549bafa1b8c61cfda65c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1700/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.399,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1701/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e48493b7f50d81d80d42bc5f05333137586a71f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1701/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.538,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1702/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c5508545140f992cbf2b5ed191972080c87414
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1702/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1703/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef5c6c147ad16f6c3dc2179ec03294ece339dd6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1703/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.615,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1704/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9c826c56720aafa9729aa821c97ea522eef2b60
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1704/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.068,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.557,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.068_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1705/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9735275c2b83bcb83cb2006b31af6a2196ff6a57
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1705/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.466,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1706/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85da22096879140934445515468f237aa50d8f76
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1706/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.399,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1707/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f450e62f29841f886408ae44bd1949da578217
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1707/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.572,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.572_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1708/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d755c78b2579400a52e0a4992569466ca5d9ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1708/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.572,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1709/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d378cece00eb8f06a4a7d831a8ba1d2a029fe8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1709/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_171/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef24c0331a2cab6e90505566a5e34f0361e235d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_171/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1710/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f75a9cdfe3db2ac1137590f653f76a8de653347
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1710/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.052,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.698,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.052_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1711/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56d70023b668eabab5889223fb031b1fde9b817
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1711/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1712/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86cfa3ef74647d49549a21f0abc84beaada3b18c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1712/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.538,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1713/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61beb3e279de54dd451941757c8651aef50fe608
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1713/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1714/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7203b5743fa1a4e510fa83dd62f2bce2914e6d53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1714/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.070,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.557,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.070_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1715/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5443a1535110a2b439c7eea6f3e5466b9e534ff8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1715/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.607,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1716/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b4cfea95180888d107d2c8ef7282f057a7ce807
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1716/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1717/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..727dffe4a3684b1e61b39c9715c0ac179101c4a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1717/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.399,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1718/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c8572ee6f93d27598ebc00431c7f6c295a45d0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1718/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.38,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1719/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf29150e8c58b9444ce7ad9590227ba92c8d458e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1719/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.070,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.61,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.070_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_172/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d031bc12260bf74623256381fb57e528d0d1df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_172/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.066",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.54,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1720/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a276cf3f5c630bcfef2918be4ce9c656cc6571c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1720/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.399,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1721/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecbcd3843278f7d5aaedfb93fe3cc9a4674cc45a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1721/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.465,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.465_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1722/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e8ce2242c57a4f6c3919e08c449d4756edeb348
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1722/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.050,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.626,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.050_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1723/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..004b37d362e67924a2668c2d573f14833d1b387f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1723/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.499,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1724/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d9e8dcbd89751c18ef9512590580f1df361884
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1724/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.068,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.068_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1725/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66985fe671ed55486db90e03065c016e13951225
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1725/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.054,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.557,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.054_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1726/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46193d80ed84d8035cd9bb4364564759257e9603
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1726/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.499,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1727/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..691507e26b7c2b771eb7ac52bda2e8c0e4521b3d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1727/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.060,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.626,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.060_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1728/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..958ed1d744d013d883d47ffd045aee13f777c9ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1728/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.572,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1729/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5ce890501c2428e88511d21577cd24af0b70e86
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1729/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.606,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_173/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ab39a51c9668b7e27f7c1330db2ce890ce36343
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_173/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.068",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.593,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.7_0.0_0.0_MultiDynamics_3_0.593_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1730/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bf79facd1ef42c077c55ae8edc58a1355db3eed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1730/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.586,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1731/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d720549cec07311c18cf3c5118df9176f2de33
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1731/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.482,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1732/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e90ee3d97020074673dd761f1e75f2d90b3ca61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1732/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.052,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.052_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1733/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..852b8d6a7f67ba19e1840c03716691db9a66adc9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1733/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.465,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1734/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f28d6f72a03d144dc4acf9c0bfc47d4ce098560
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1734/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.68,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1735/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96094dc2f94a9b36342f7f876cf93b7cacbad32
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1735/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.399,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1736/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..410c46e43d329fc1fdc509798a988a90f7adb4da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1736/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.532,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1737/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5358ffffaa466779a69b592f6c7412dc69861fa8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1737/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1738/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49005a1463217925848404f51f673cee246c9882
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1738/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.499,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.499_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1739/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a013fa77fb593bdc5a2966c008fa2962bef78757
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1739/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.538,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_174/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8e7f38a064165d5e3cd58be9131da35d3c3e97
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_174/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.050",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.545,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1740/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddcbe82df756da60fbda6cd0e76077abf96c117a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1740/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.586,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1741/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..053613f92be3529fa48fe27c9ead21837fc7e95d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1741/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.68,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1742/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..050d2657fb9c447911366b70193372fb08e46cb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1742/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.399,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1743/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..731f00b87ad86ba1b311548fdea77d4e97bda5c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1743/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.058,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.557,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.058_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1744/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d725a884f351a969fa7c5d3d724250835352c0ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1744/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.68,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1745/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0433e4001eda1c9bc2a7f00d1987999afc3aed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1745/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1746/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fa9ddd43b9899fea5f83e0bcf8563ec7493d99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1746/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1747/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..258c0972d2ff41255c0ab5731691e356e1260184
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1747/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.399,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.399_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1748/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c817a3cd3eb545003608fdaa0e2d5717278dea1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1748/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.58,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1749/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01c464816195df98e8650cea584f8413a3e7ac0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1749/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.68,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_175/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..235982474607cf93ac34832aaca8958a04818799
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_175/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.050",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.596,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1750/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74af804792c3a7c3104d44669a95ff811fde4deb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1750/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.38,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1751/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2203952d468c08ed841bd5137c065e46ec9ad05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1751/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.068,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.626,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.068_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1752/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb425e1355acf310cca82e0b15ad16478ddda8b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1752/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.38,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1753/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60571373e411d00a61a8eccde58ef463ef9bfcd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1753/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.606,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1754/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..233199c97a4019ea001acf14b537b4b932b71643
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1754/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1755/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d4231f647930af72e15b2fb5b5e42ed047cde0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1755/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.38,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1756/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ccccb020dfb4f3745af2ad08a0ab94b1453a71b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1756/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.515,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1757/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8d2c5dc5dc86b18067b369e330e19fa21118ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1757/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.399,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1758/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9240ac31da0f453d18bc65c9981dbd14d851466
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1758/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.058,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.583_0.058_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1759/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dabc89c1d63da810f5b7c6ee85afefb9c65be37f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1759/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_176/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c4e88c2dd9ebb08143584335ce86ce6222734a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_176/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1760/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a8dd0189038605003b78febcfaced33a8ea781
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1760/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.538,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1761/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd058d54e4b21bc198e706f82833bd6740114f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1761/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.565,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.565_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1762/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..843e869cf2d59fce3c3c5088e520f8df66b19f58
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1762/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.508,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1763/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23dba3b99ef431efe2bc482cc858acf65286b3b7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1763/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1764/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d97fd2bb6a2e15fad6331bb1dd9ca42af877cad8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1764/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.070,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.607,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.607_0.070_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1765/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0bdeb1bcd2ecdaeefeb81f13aeea77407245c8f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1765/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.538,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1766/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1b36add392cc6bbfd9e76b52894aa575d1dd82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1766/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1767/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38bb8255c146ec437bec588ee6de57dbbc66797
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1767/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.058,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.566,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.058_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1768/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2abf240a7e450024f6351e95daf309fca0f864ef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1768/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.606,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1769/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5e28e2d4d7da83e6a123c1d3316536f1e58037a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1769/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.586,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_177/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e45e3af1aeed54dbd3b9ec1276dfcb1879c95312
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_177/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.054",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.56,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1770/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb21125d673633d6e959a4d3a28470832561433d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1770/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.565,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1771/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54bfdd8d9f35aeccbd8702fa9bffd66c4e876a0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1771/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1772/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..151e3c4f54e62bd9a6d81b527f9a69bef2355718
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1772/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.532,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1773/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0edfd13b8630121f2b381c3d6bb88d032788df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1773/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.615,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1774/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3357e2079f811f455b8d0effddff457d2f1a81f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1774/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.058,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.058_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1775/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1536671f78a55ab45af43665ca872754fb68c2e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1775/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.066,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.566,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.066_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1776/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f9afa4f1d0363df9d7481a832ec1b758785cc3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1776/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.060,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.626,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.060_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1777/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..001d06bad150dcb41814f2d178a7fa6229d15066
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1777/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.499,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1778/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4986d7f35676efc484549d2db279b5fbd78f8cd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1778/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1779/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1300faa58d3374b9aae7cdd906ed4557849fef27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1779/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.056,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.557,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.056_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_178/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f821f595384ffdb1ddd4a9dbc41badc07d890c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_178/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.054",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.597,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1780/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63efc7ab116ca45449c9ca18fc87a22158bfbe79
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1780/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.565,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1781/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8db38d9261b5473af5d8ea6ee33ded864bb129
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1781/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.68,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1782/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7f0f7456785a6eec4ca751c5a4139feeff9c42
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1782/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.068,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.607,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.068_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1783/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..689467df51327cb4c743b24ef732aff507689ed4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1783/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1784/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc94860ac789e7fc336b975f982e83ba06c8bb30
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1784/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.466,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1785/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f5602d96c9986e7a1e325efc2a270d06bb5acc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1785/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.508,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1786/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48411a5dc8b8c4506c8564a8d02432f55a335026
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1786/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.465,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1787/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4590affaf974cdf61caf46c50c34b4a5af0b37ec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1787/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.054,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.626,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.054_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1788/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1121eb5de4148070d6d8adbd067ba6ad3720ccd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1788/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1789/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ea002b6692ec79d8f5d0780d504296c2c0f83d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1789/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.515,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_179/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d10be844d6080a48f531aeb1fbeb3ae7cb7312
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_179/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.058",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.554,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1790/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d9f7f3fff92f77fb4b34492b002a1e525dfd006
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1790/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.565,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.565_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1791/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f81d3b6303b0c7b7a9db0563d473bf54401c5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1791/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.399,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1792/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0202c318a8269a4ee15fd56939ae4600af16d014
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1792/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1793/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f5fd9abaa8eec7e04279ca7bb3bbab47110196
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1793/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.068,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.538,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.068_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1794/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28e67d64cafab45875b7dd5d144b3ed198f6ae1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1794/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.482,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1795/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..045b1c2ef0ac548d9013196047952219bc607a21
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1795/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.565,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1796/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a09d72642b39e1423011b34ffb8aaf5171a7ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1796/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.466,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1797/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..029a6d09305f03c6699f27d23b68495b2260f7c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1797/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.054,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.698,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.054_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1798/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60822fe577386242968f1d5096e1a257a114f7eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1798/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.565,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.565_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1799/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..928c72864e0159c6ff1a74c4caf0045c852ccc39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1799/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.399,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_18/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_18/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b905434dba565e5404642c631e96694f833e91a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_18/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.054",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.52,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_180/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f150915300d7cad1f21ae07f17987f7a48b7c3d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_180/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1800/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9572ba977b5e9b5bd506230be135082ff5ef33d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1800/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.052,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.583_0.052_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1801/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe7a630b3356d82265352bda24750042b2d3719
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1801/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1802/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b358f623f27bfbf1675c56aef742cedd35a852
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1802/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.060,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.698,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.060_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1803/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec0d78504ae9748547e21adb280b02643ec26f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1803/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.532,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1804/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4e94c3f7fcb38679e7e21b13d03b1fc9c6f557
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1804/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1805/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb87aed126ff93fc43afc4a9567091069891cff9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1805/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.058,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.572,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.058_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1806/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c764f4a64a85ff63a721dbf239a41276f1a28e0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1806/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.064,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.626,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.7_0.0_0.0_MultiDynamics_5_0.626_0.064_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1807/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7802d4f1a7ed7d2cbd90586edfd5e12efc46d7e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1807/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1808/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab084b180004b98ecfa55de60db335e6fa497ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1808/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1809/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43f9897b53f404d0ce1f0993a13c26ba6c204f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1809/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.586,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_181/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28edf93395050f881a1ff827fe84e2ba1777c08
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_181/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.052",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.563,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1810/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6803660297616a7ae50c076303f1ce4f074a7d75
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1810/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.054,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.054_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1811/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eadea3d5e9cfe97a853dbd1abddd4882a28d321
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1811/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.054,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.61,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.054_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1812/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2f31ed25c5691ee6b23724d36bddd860fe1424
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1812/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.482,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1813/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac9856d611643478f053de24d1cddd1dbc76fc2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1813/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.056,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.698,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.056_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1814/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b859c144776cdbeb8116131216933b6c4c5d5fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1814/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.532,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.7_0.0_0.0_MultiDynamics_4_0.532_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1815/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1465119a7569b818b816fb11915ee0e79a49410c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1815/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.615,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1816/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5821a036e5305365f40d06699b006c8588e4526
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1816/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.058,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.61,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.058_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1817/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a6942e21f28ebfceb60aab1e990cf837cc55f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1817/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1818/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21a5f850a769af290a86a522dde44f674d67740
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1818/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.572,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1819/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81dd04494cee3bd5d9c5fb30398a3decb31170a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1819/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.465,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_182/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8184d775238d433633cbcd6020a9a511941759a6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_182/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.070",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.569,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1820/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f63976b9411104bf8cd540e3ec3bb173bc647bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1820/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.499,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1821/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72ac6f9ce09fa87d08f9f19629c03fcfee75f63e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1821/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.058,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.61,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.058_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1822/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3d9803937d424741a267ded3f19563a3db32a91
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1822/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1823/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c6d7f25217339d0c88a1ac8d8640288303efe5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1823/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.515,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1824/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81060271500fa02e4a98df18cc5957e738115960
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1824/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.058,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.61,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.058_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1825/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea23b26406ea1e2f6d4fbf5fc29761879c4007f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1825/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.565,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1826/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa99fd8621aa41278b03dc3383d1dc34ebbed2c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1826/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.38,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1827/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8b28cfde0e2a5089e79997f20cb38c2593c234
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1827/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.466,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1828/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24dd13b3262e3b92d8b3559c0e13bbd12865617
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1828/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.615,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1829/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8926ad72d8e25a92d0aec368299a1f27f1a7804f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1829/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.615,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_183/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af157bc1b2e574871e4590b461825bebd765f55a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_183/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1830/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df7029db77dcfa14bf8e1ef5019c3d1b4a2e278
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1830/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1831/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8baee154cb221ced251965ffc777e5b2a52119
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1831/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.532,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.532_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1832/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2733dde1a7f3ae99a2c4a75e54d3335808e47b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1832/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.060,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.61,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.060_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1833/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e993d0e00ad3040932aacede7460307c1b76f81f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1833/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.066,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.607,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.066_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1834/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf714b94b1588031ee32f74d0cdfdc1181177dc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1834/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.606,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.606_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1835/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74eb4e2b30407a36d4b1f63f8af78321cec3c2c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1835/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1836/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f3350d428fcc037475912113c445153f85a84c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1836/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.532,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1837/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f53a105307a80dd5748b8aa2f398d28de50276
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1837/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.580_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1838/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7008353e577b90b30269a18873ff981069533883
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1838/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.052,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.052_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1839/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c256a485270b4bfc32b9683d425b27d571fc6145
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1839/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.052,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.615,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.052_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_184/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0269b7158f6a89177d218a29b7aad3d10c11405
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_184/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.064",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.59,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1840/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f06ce0b1b687f87d795b7bd3ac51323c8a8bdb72
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1840/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.606,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1841/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..672746927c0c3c8596d1c4a3f78b108b2617501d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1841/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.499,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1842/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb12cca0c9eae0baf1ee65f14985efdf15ad38f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1842/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.064,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.557,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.064_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1843/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75bf8144aaf4849b3991802ad9c15e7d77d040bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1843/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.066,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.698,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.066_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1844/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3a770195dd51e927d19783e04012e89a4b5792
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1844/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.532,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.532_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1845/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5374d19d8e3acdcab31a2a9953f0c9d5b7a0214c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1845/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.068,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.566,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.068_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1846/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce744e3edcbd0d4e3f454131b7f628f416b28c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1846/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.068,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.626,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.068_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1847/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abed1e95c6324ccfe291bfe1551c61bee145b424
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1847/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.499,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1848/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..043317113ebd84fc671a6575b474e4b0f0a870a0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1848/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.399,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1849/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..489dfdbe79636542a699b9c7c50c93a2bcf1c95f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1849/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.4_0.0_0.0_MultiDynamics_5_0.566_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_185/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ee29420f08cb855847598992489646bdc7bcc2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_185/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.064",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.495,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.9_0.0_0.0_MultiDynamics_4_0.495_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1850/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c76332866c2c628a429f2617e38587b77fe775
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1850/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.058,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.058_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1851/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a6a1b9d33834be8be3b09e4f882c9e69dfa42e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1851/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.060,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.61,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.060_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1852/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7baa0c8218bb0ee7022f8493257685eaeee6806
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1852/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.054,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.615,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.054_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1853/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..409ec301e35531e3294c7db3bced7dbeb23be6c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1853/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.508,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1854/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58bae84f92ebbd431ab2e7eaca4d3351852b10a1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1854/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.68,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1855/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6977b560f2b0c3a68ee1ae8358fcd44eb3f9be37
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1855/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1856/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d95b6d0d1f3f92f4df067a099d3e4cd8fd3f122f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1856/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.054,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.61,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.054_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1857/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8b3651bdd237b8dc3e3373e7d0267dc97c1f1c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1857/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.465,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.465_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1858/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ae2db3b64a6c3405d2f533fe64e77dfd49b5a3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1858/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.482,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.482_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1859/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dd39383ea79838e72d7cdc7b065f83e6dc2d329
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1859/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.058,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.61,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.058_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_186/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..799d2e7e585fb57ef4a171d4f256156beacba6e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_186/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.056",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.57,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.2_0.0_0.0_MultiDynamics_4_0.570_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1860/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6786c9c971cf800fa0c2bc68bbb05ad7838e5b00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1860/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.052,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.626,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.052_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1861/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcfea9a978bf28fe82e48f08b64b048c9d920cda
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1861/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1862/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..663a9be22b505e949bf22c0033287449d215d682
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1862/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.615,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.615_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1863/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..656252465c7ffc53dce2e426d494ebec9bb46a0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1863/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.538,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1864/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06f13c90004073386c5b3a9a7b385e339ec7bcea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1864/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.508,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1865/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1028b197b4aa21e69cf40e3679cd798e06c67cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1865/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.572,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1866/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37c7ba864ba6e3222b1cad29a3f4e8249a5bb2fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1866/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.070,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.566,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.070_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1867/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68daa00b82fab45fecd4c371095327d4120f45e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1867/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.565,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1868/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cf019a33ac14cfef6e3b634fe42269d269e6cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1868/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.606,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1869/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1955dd0a224c4d0e45ec7b421fb14f31665a3b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1869/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.532,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_187/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73754306b0f79d1fdbf471a027d4913d248cd357
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_187/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.054",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.52,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1870/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bdbb07d683eaca0bfb1cd6c3959f4d34c78385d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1870/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.38,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.380_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1871/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8e5929e2a321ada9be56683e4016416bf11401
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1871/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.056,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.583,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.056_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1872/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4b597185da1d7d6b9c8e3e65c944ff2452259eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1872/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.565,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1873/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4105b8856198ce3f92ec9e23b136456538e75a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1873/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.056,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.615,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.615_0.056_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1874/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a2ba1659ad8fb1b858a20accc2794f26b3e7c67
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1874/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.515,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1875/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f13d70b465e39ce2ddcb5abbefd88373f12117
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1875/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.499,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1876/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea487ffc20557ff3aa312417e21fb9c4a81d14f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1876/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.508,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1877/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94dba43267787de6d1ad958d3fbe49e4957d8c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1877/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.565,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1878/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..190d37ed0bfc98b941bea31cb8fbde63b219879a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1878/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.466,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1879/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7918c8ecf61c79d16626883b345b5aacb4959aa3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1879/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_188/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..574b486af8cf3ea8081215adf0c35775c4b2129d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_188/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.050",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.563,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1880/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2852534750f37bddd7d6d8e6cf8f27bb6981bb04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1880/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.066,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.066_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1881/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7449baccddad8fc65dc0ded3e14f6a82d781e2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1881/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.572,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.572_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1882/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f544cb4c6fb8aaafd8c6a2c0d7c9f6c67b8fb97
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1882/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1883/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5bdaede21d675a7b15a40ae542a31bae9a09466
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1883/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.38,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1884/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4bae176d6f10f0622f44d5ecbee907bafc3c427
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1884/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.399,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1885/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da96ed404d939fc87b2a759da6eb8a111465f5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1885/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.482,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1886/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf157189df767bbe8af89916b7be9672e540f70
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1886/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.068,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.606,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.068_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1887/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e726baf4a24c4b238312001b0984a3d77c0e3f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1887/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.050,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.583_0.050_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1888/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..008f511bd9c4345a2511f3fc358a2f0bea42351e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1888/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.586,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1889/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa5b0564bded4f6084e6532d42a8a11efc4fde0d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1889/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.572,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_189/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce2e5864d21e48cc5f4ff9cd406cf1677dfe1a0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_189/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.054",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.477,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1890/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9b97d270bc7114a62d0e23460fd37a31b47e63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1890/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.466,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1891/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e4d5570916a8c2be7b4ee2ca8a4a0976c71042
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1891/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.066,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.606,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.066_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1892/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2272e2b439e54d5dd1b35e022f2a0ce056c248a3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1892/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.070,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.626,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.070_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1893/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0aff18908abe02aa11130afcb178fbe005b133
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1893/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.499,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1894/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf0bd9490cefd505e9cd505692f572faf8b2abd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1894/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.606,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1895/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f8a01d0f30de70cacadd537a567255b89ee4d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1895/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.606,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1896/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d55b5276f36b412dd8be241abe43baaad09274b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1896/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.466,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1897/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ca0cfedcdd1d97eb2a03fb22ed38af28e6748e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1897/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.050,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.566,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.050_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1898/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06125f0d5a1df2d8d742a20f520ea9de5df8cb2f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1898/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.465,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1899/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e806ebee010abc23d49b0e7a681e77940fcb8ca6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1899/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.68,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_19/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_19/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b8c25a7311f3e86dc57c4853e051ae6be7371d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_19/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.052",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.569,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_190/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..360be20484f098a44f1bfcc1091c0b743222d471
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_190/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.060",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.57,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1900/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a4ef0ede4801929b64129e7430f79be0b1d182
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1900/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.070,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.070_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1901/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58bdff06a403d0d74072b81ffa4fbeefea259862
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1901/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.056,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.566,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.056_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1902/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2953021ecb89db2532996e39ef20161c76e0e750
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1902/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.68,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1903/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..049d87dbdc3b98d3b51755e1176773336c8827aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1903/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.508,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1904/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9437b6c8f68718448b761d21c8a7579a2f2322b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1904/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.499,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1905/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a8de222acf4aceb2ad40d1ab885a0d88a485926
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1905/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.054,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.607,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.054_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1906/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a208a461ae265b429403526e00e3d306fbdfa89
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1906/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1907/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd1f23939602a5c245b69b4a45b5fc6dcb447eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1907/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.565,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.565_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1908/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b291558b12a0c3a3f8fecb7120475d57e1d25f4b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1908/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.482,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1909/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e68a8cc796a088cd3e830bea730ee47bfd9d8077
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1909/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_191/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e88d54641d5062a6d191546822e28b8fc32f965
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_191/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.068",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.63,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1910/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f375047183efa1c3ac82a57e6f6cd4013aae29
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1910/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.064,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.566_0.064_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1911/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25150f81d6232fd0f925b5e6a9db5cddbd7a57d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1911/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.066,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.626,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.066_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1912/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b97842ad83e283aecbc95306a1363d578bce13ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1912/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.515,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1913/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64901012e0bc9a488315ddf8e6f4ce73f23bc1bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1913/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.538,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1914/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2298358a5d71fc3ecbbbf532ac4f7cdbb67d6e3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1914/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.508,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1915/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f25283e307f013282cb63fdd2c537653bc8ac225
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1915/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.060,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.586,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.060_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1916/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..803e239ad817946515d6fe284c573aadb9491f7f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1916/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.538,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1917/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aaa4733dee1aa14a742457b682eaf64beff934a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1917/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.538,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1918/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc35c94f5dc1bc4de3fa0aeebb2f67528d9ba3ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1918/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.482,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1919/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2916369b2da0027070e2286c2ad82ebf13f57853
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1919/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.499,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_192/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9150fe49e3b8c127d6b1532fe78100da6bb705aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_192/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.068",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.516,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.5_0.0_0.0_MultiDynamics_5_0.516_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1920/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28a2ef708ae659d216eb6a3e4d8f96173239a80
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1920/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.399,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1921/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17231ea90e2a4addef28dc0c34088eeb1212fd9e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1921/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.050,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.607,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.050_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1922/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65736a89edb89637057805f34232ce2db3bdc24e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1922/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.515,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1923/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..872bc136f81da61292de9880a71c339385cfad8b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1923/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.515,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1924/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31e71a16496fdc3258f7482c8621a2ff302c8b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1924/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.060,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.566,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.566_0.060_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1925/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3959dc2e07151f669eb350df0521f7325ff89d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1925/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.466,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1926/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f87c7fef4df5ed769e98b3468fd9dfa3d519985
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1926/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.38,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1927/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d393bc2ec826a9d52d4a0805a45c4b4e1cb080
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1927/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.538,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_3.8_0.0_0.0_MultiDynamics_6_0.538_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1928/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..952ce32bb8e542348db2126110d9298ebb91686a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1928/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.515,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1929/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdef4dba65f7ff6262352198219b41413b6ba4dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1929/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.482,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_193/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..137e5842c7a77412772ceb86a59876ad03b7c7e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_193/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.53,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1930/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ede75037a1b94b3517d81f411539aeddf594c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1930/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.38,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.380_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1931/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74675f7cd271270a797a916d170a2365c46662c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1931/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.066,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.066_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1932/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8df97571653786a636c02422135a8681ad7258
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1932/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.056,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.61,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.610_0.056_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1933/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..836844ac7962369a00521186c827c7d4df2c7afc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1933/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.572,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.572_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1934/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81039d8b24d0337d88f0d0f689df73dbe132d9d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1934/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.38,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1935/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a18708a5310f35ee468163585904cce23108fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1935/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.482,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1936/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a11bba200501d7e8f5d00c23ce4a5fd41adb5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1936/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.515,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.515_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1937/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73cfe013a5a78beb41e35565858ce56a80bb1a15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1937/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.566,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1938/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96326a25b56f934dadb5f9c57c6355e9ae8b9088
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1938/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.060,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.61,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.060_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1939/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77837cda2442c4f1ad762482cdd1ec36bc35de77
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1939/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.466,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_194/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41645c5dff79c3db84182a0f969021f0ab3c9e13
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_194/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.056",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.427,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1940/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d822a4dfbf1db3803b2ad5801589c3665fcdc2ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1940/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.068,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.557,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.068_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1941/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a5d43928a962195a68131ee410be9a2a5d8cdb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1941/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.606,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1942/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aca8df396adb61269a0d95c2dc1ed2fc54ba119
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1942/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.566,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1943/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48eadc8a35c078e3dbcdf375cd2e5c912bc47eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1943/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.532,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1944/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68380c205229dc5e5b226280dedc1a76e3dcb284
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1944/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.465,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1945/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..423bb772049259c82e15f787379eb71236884180
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1945/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.068,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.538,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.068_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1946/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d646933d8a22b35be91ebd1aea027b705f4d5c35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1946/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.482,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1947/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c49853627b3d4258ead90ca113ef3bd9cb7e641d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1947/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.508,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1948/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb46d091217cd6ca524ec831d4398d66d8e7638d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1948/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.482,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1949/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8818beae187063221191031cbd9b97795a649626
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1949/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_195/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca782ac13adaf3a1bcc73d922bff9c35b042a975
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_195/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.052",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.554,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1950/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..279826a1e68f5a2315209f33e482e715be9b5c5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1950/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.586,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1951/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..147e46a884f3684d66919c079029352b56c53dc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1951/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.064,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.566,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.064_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1952/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9781bb4d23c73c5f6488ca21b6ddca7069edc45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1952/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1953/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e6a132950df56fac910263c297b98261bdc9cc8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1953/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.465,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1954/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d2a10677a8493281ffd2a7e968374d5b306f1b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1954/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.482,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1955/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15cd57ab8ca15d80bb9d358571c4dda83192cdd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1955/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.054,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.557,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.054_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1956/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1bcd950e4caeace4f8cdb8052c26af973742d22
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1956/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.056,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.557,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.557_0.056_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1957/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f9ef136e10eb9d59e1e65828191b430693a494
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1957/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.070,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.606,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.070_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1958/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8db2d206262e798bb88eaecd3b7f283caa86459
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1958/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.399,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1959/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9b5e66f534f71018cbd370a2d5309c96c21848d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1959/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.068,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.698,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.068_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_196/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9285776e6bbfea621d065e54763e02c0c14d130b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_196/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.056",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.62,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1960/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9645760629f2e46f109c14f73fd2bedb5812d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1960/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.68,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1961/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc205961658d093b3531d0506088cca7604b1a18
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1961/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.515,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1962/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b17589e9076281289b19112b0e1f4ac3bd3eee49
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1962/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.466,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.466_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1963/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e99e23362bdf162a43144f178e46a16ebeb5cd5f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1963/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.508,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1964/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9b2a5316b1a38983794e40259534149b912b20
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1964/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.565,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1965/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9894ab41e025e1e9226f1fb011ce97696b10e0eb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1965/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.38,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1966/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4962159f9ea4673be3992c23b16d6f69bbb17c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1966/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.054,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.626,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.054_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1967/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f402150cdefe1475896c0513e38121971125c0af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1967/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.064,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.572,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.064_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1968/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ff0fadd7ad1d2b7caff6e46ce5e7dcafebf854
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1968/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.68,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1969/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b6ad6ece2beec57d528437412bfd0c37766ca3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1969/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.058,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.607,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.058_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_197/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe1705fda53d78a69b0c78ffe5bf394dba2af9c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_197/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.056",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.613,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1970/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3558bfe6348702f792302d9f6dec44ad446e75c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1970/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.68,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1971/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3597eac77365e73312ec7d72c6ba210aaac1317
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1971/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.466,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1972/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f75e278bcf13efef50082a77ce933096c0a377c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1972/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.466,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1973/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e801920a0b470dea6940fdf7a4cc526a7a8ded
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1973/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.052,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.586,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.052_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1974/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f125bf06778fb3cfbe6a402472b6cf27d73845af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1974/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.68,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.680_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1975/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f40b2d7c8407217057db2d95611a537901348ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1975/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.052,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.626,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.052_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1976/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2393a3daf344fbe966dfc80e8209076d0c64851c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1976/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.050,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.626,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.050_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1977/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ea259d755653d44c17c81e5a8a1d565a1ec2ef1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1977/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.465,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1978/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d92e74b993a2bf98a50a152a94ec3ce9c7f8624
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1978/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.054,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.615,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.054_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1979/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7690f0932acda10af8ec7e77bf9745d26f7d552e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1979/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.532,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_198/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..975cceacf34ae27b17584ac9d8bd4b02e3880127
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_198/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1980/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19bf3b5716586ab233e818a218d3fad800a52c38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1980/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.056,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.572,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.056_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1981/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e403c65cdee3b214417b0a0ae04e2f98e2792402
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1981/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.508,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1982/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54990e8a58ad4400bef375b12b02fd7c22dccfea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1982/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.064,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.698,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.064_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1983/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d0f6e4c8e3727286b64c63cb43f99222b8bcc09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1983/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.515,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1984/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e49e29071478da58a85cd179f8b73cf4bbc25c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1984/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.68,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1985/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f493af777a01d1b26c7abe7cbf6039f3567b0b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1985/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.070,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.61,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.070_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1986/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6787703231923acec2d25540e9d85adb2c06c716
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1986/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.050,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.61,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.050_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1987/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..625724eda10ad20df1779a7f3b1cab05cbe66e9e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1987/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.068,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.538,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.068_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1988/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c2039bc5e4cae0b69248038cbadad608c0e8d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1988/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.060,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.557,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.060_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1989/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14639e5d3289af771986c92194527df9c218a50f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1989/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.068,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.626,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.068_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_199/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0833b96a878c94bcc9b8d596a1e04f0ce8591b9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_199/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.060",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.545,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1990/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de0da0ff81f8e099a0d2591a1c7fb1640ff9341
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1990/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.38,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1991/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8346bef23a6d326fdfa6ed56b527b8c6e62ec7b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1991/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.515,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1992/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6062d2b9b9730e165826d8768808a4f1ddee8d8f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1992/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.482,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1993/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8698d6cbbf46e50b26d8f8a708ba3cd217fda247
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1993/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.054,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.606,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.054_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1994/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86cf76db3accb40f658e556b57fba476c71a303f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1994/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.054,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.626,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.054_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1995/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1fc2d96522843965a254e0bd6e227cd7e45e74
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1995/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.064,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.607,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.064_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1996/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6a9753266a2a973f5e5fd4e921c15a5cc6d3403
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1996/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.060,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.557,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.060_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1997/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7361ef234a3f73149688c934db7c6fea05d22ded
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1997/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.499,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1998/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c80fe22292f016b40c3089dd026c648b0e676b7f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1998/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.050,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.557,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.050_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_1999/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5240d04099e89efedd6a5cb837a27e96a930b092
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_1999/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.499,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce08847a0040d4e14bcb11b19d45293204b5c375
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.054",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.54,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_20/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_20/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00602bbce82fd1ce8ae69c0532e8c10c1a03d52a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_20/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.050",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.527,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_200/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a858ec83bf5cda4968d7ceedcd2cf3d7435d7e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_200/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.052",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.616,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2000/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f69cf2af90c9ad0564a1bc973b4eb5b3b90477a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2000/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.054,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.054_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2001/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e13423337e4989cde33ceeafd6b13c6b51fb7a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2001/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2002/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a4e7158da1ddcca2504aac39e59680470261a3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2002/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.056_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2003/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0873046c2f84d7cd95bdf779d9a25e6d00a81b00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2003/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2004/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf1bdaaa33388fd8c11cb5410924a04f7b9acf02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2004/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.054,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.054_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2005/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae73c131afe66e360b7e0bde4530107277f62fdb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2005/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.060,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.060_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2006/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..619979f33bc99aaf6ad456fa45c1f79c349cdf4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2006/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.052,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.052_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2007/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d5d7315574f11a0552f6c14ffdcf5febc1b025f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2007/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.050_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2008/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..871439268024a5e0ebfa3a950662737f5ea5910e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2008/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2009/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db5d2b15692c8a6718fb02a0c4097ecfce750e05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2009/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.050,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.050_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_201/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88e5fcbbe0ddbb0095976e4703d4b11b4e8757a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_201/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.068",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.545,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2010/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2449ec382fc20aa83edaa845ef1e4bf54f4a686
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2010/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.054,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.054_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2011/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dee63d61c0d40dd0f1d31e4bc3c79f942fdb7a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2011/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.070_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2012/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22fd4995c415f954c872672ca469f133e6c722a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2012/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2013/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76a052fea1b1ae2ee140c6ee2fdeec0de045ddf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2013/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2014/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acad9d92296c23cb3891ef656533af57a189b98d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2014/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.054,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.054_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2015/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ea9b824319b05890d91032f508002d13c8ab6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2015/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2016/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04e731800d7ec0ed0eccc2f2d1c3caeeda08e54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2016/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.064,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.064_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2017/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..350ca0d36727fe39d3f5b83502aede20f0591971
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2017/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.058,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.058_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2018/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73ed5e806ec01a612d1b399f463388581b98f88b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2018/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.066,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.066_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2019/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be35f372745848a3a208b9ef4930c2b27a189cf1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2019/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_202/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a407551b9200aa216c58d56d0ae37e73cda2ee5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_202/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.060",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.616,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.0_0.0_0.0_MultiDynamics_5_0.616_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2020/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9307ae9850e6c8ae8b8e621db75e18e1489b8e0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2020/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.052_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2021/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3f369f3341ffaddf9984f2180c468aadfda09f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2021/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2022/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..642edfeb2dc7508fb3d9e839aaf8ae8b0d438d73
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2022/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2023/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c64bb1b74ce662419e5e4b563c4d1e45920a73
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2023/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2024/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0ff427a2c2a154a24290b001a209c9bc9b4395
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2024/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2025/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52a780ea2bda9b19cc9e2e01e719094aa3c8521
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2025/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2026/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..548419d49d1b455491dde5ae8448ab7ddf37f299
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2026/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2027/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8750738c60f2cc66e549882d237b2f94c08a7bc8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2027/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2028/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae956d9112bb4d3a8b2a0aa09d8c035a35ffd536
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2028/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.054,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.054_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2029/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3feda2825eb695c65c77b8d3a2b6d134e0fac4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2029/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.066_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_203/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c3cefd36697f0fd439483a57a4922638f4e356
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_203/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.068",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.547,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2030/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01577a5304e550877f78e8724822be6402ae5f8b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2030/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2031/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6f313c3468caf00a4fa4c1d282dac94a97fc68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2031/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2032/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..934ce6ffbbfd3b3acd0890f8a1116b9cdb8aa418
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2032/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2033/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f831745f02f658bedea1cbdbc2eae52a2a9dd64a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2033/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2034/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4a566fbb51bd84efc3353b389f4da3d5a0022c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2034/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2035/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bde4722dee18e4991a71e3a2895ee9dec025103
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2035/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2036/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a003c5ed8f723be2b9a3127006049ebae5de35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2036/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2037/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7516f19e6e18c71fa64bc11895e604b111d9ffd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2037/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.066,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.577_0.066_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2038/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64de4f06562290c9b954d6ff7eef928c6fb57aba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2038/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2039/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6958fce68f6f32d03159fb6bfdf5a1f19e697681
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2039/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_204/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e0774781296988e7a8436861d698cfa9143267
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_204/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.066",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.493,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2040/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6204541363c2c390ffc205390bff573674fda000
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2040/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2041/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a62c4d2779e7259131a99e1293563c1f0b3b23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2041/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2042/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1aeacc1a079f36a2950659b9ef78002daf6590
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2042/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2043/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c06b121d0f393ff81f90a48e085a766672d1f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2043/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2044/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4764000bb5b0a636ddb0e202ca77f1b5bd907db1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2044/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2045/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3a5ab602a8e20e58d653aaef1559b676d5a77a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2045/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2046/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48083a7dbf476955d7f3ea005daccc7231bed91b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2046/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.054,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.577_0.054_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2047/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a38fbba0c05cfb5880dd51531394de7d6f6f728
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2047/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.054,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.054_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2048/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd4ac02be7bb26ceb6698b6c64a6f46bb6a22b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2048/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.060,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.060_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2049/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..138b0ee95287952dac4eee8f1fb907f6432d795c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2049/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.064,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.064_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_205/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a3f1ca65cae31da24b9498f4eaab5845ccb50c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_205/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.066",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.547,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2050/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea3a5ba8affbb5129f0ed1aeea79080c845c6a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2050/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2051/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f77b360d007ac26e02b81960c55e08e6cabbda8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2051/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.068,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.068_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2052/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a31b553000ac85b61aefdf7bc016c19d437cd3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2052/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2053/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a026ca83cf8bc248b3fec7612b64368e4758dbf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2053/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2054/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8823e6c4503131514f0505db3b22496dcd8ecfe8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2054/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.536_0.050_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2055/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e84a8cc54f630b1dbcb0d0c2d3337e777afc8e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2055/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2056/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..642625352c5ef8021e94bb0163a6100ac0d9118d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2056/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.510_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2057/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9853aaa2f66d8ded966fe8d2f26f54d896ee0229
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2057/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2058/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4085f4904591ae6a3cf38a37ab9f23c21fd4d35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2058/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2059/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c261662dd8ac354b61a0351e00c5ce9ea95832
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2059/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_206/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3dac28ae661d7fdc8d3349077a58cdf455eb4b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_206/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.066",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.495,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.9_0.0_0.0_MultiDynamics_4_0.495_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2060/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0c65133e5498497a3548649dbe3fd22dda62b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2060/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2061/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3bfe189fb9e46c9d5c2a15eed74dbd27aa98625
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2061/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2062/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85d34ad27a7fccbeab6d707e2ca894aecd8eded0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2062/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.064,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.064_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2063/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95bd52e8883ea2be3c6f0d14ea14903fb52b5a1a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2063/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2064/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1e6879953575d2b170fd9b909561f8820d78f83
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2064/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2065/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43b6142164000e666af417d6cebb83aa6437002
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2065/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2066/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d795d6e34ab56e1cda729f820d358149f99793d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2066/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.070,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.070_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2067/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17fdba2f94ec4e634caa6d6e6ae1a4a101f952cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2067/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2068/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0917412758dda7829635ff705db4ed6a02946e1e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2068/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2069/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb57333269540505ac2504df0dc48fe64b6a5fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2069/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.054,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.054_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_207/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b7c8c15b91f384eac638a2653c084af2b101b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_207/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.050",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.493,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2070/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a75c30716342af90e2510c066e7d156f5071982c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2070/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2071/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f832e34b8aed9ef0188242e2e78e1c8dc7c13610
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2071/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2072/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d798b609f3d14d319105dd8f8666766778e16a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2072/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.056,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.056_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2073/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f079a4030281aa9be0d4220ee6518967062e675
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2073/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2074/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe6203509fe7abdbb5705920fc039412a5a68d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2074/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.050,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.050_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2075/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fc0e19bafa39496222971a30e299177b4730bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2075/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.068,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.068_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2076/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56dc648d69cddf4dbc662d4a60251a9b640461b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2076/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.050,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.050_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2077/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce67b74b04ff46e2be0f22b342f2b0dd73140bf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2077/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.054,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.054_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2078/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..912086fbe3d877924dd9aaca0724ad3ebfddf6af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2078/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2079/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ce22bc579fc52868c4681311d6bf747046b0f1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2079/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_208/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c09373ae6a218d8df8dce4d660074e05aac3ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_208/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.477,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2080/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eceb42a62c7f5a5daaa2480def626dc49919c63d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2080/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.056,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.056_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2081/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c03f9d5cdb81a45629dbc6f216f2a8074d1e507
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2081/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2082/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e58c5356b040b7bcff39f4d1c33c6e86e8ea64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2082/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.402_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2083/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a21bac8c89207ab5b5f6d314aa4e832d0d091d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2083/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.068_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2084/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5038b566030a3dc2226217ce2e4148dc10ef3f2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2084/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2085/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..473a373a0662ef24834cba055b9503cffea88271
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2085/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2086/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b8d38f760d2dca31a9acf2e2d566ef84735405
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2086/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2087/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea5de75adfc285f146a1e3631996774c4349fc7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2087/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2088/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2d6313bea69e6a8909cbe3608fd81744dcf4d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2088/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2089/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a238a869bc31b75f9f6f027be49ea5353325624
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2089/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.066,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.066_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_209/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3790eeded20c745068a833c2a22d2193ea4b2a9a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_209/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.070",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.569,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2090/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c3506b92a996c37184950f973d5b3f7c678ffc3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2090/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2091/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..850e4e9e757a9ab8a80024672dc3a6048ad4e9ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2091/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.7_0.0_0.0_MultiDynamics_6_0.530_0.060_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2092/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..800472321731bf8e0329a9aeea18d648bce2f33c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2092/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.1_0.0_0.0_MultiDynamics_5_0.508_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2093/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3db81e07b9405974305d098c2f7880bc822f3ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2093/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2094/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99a1a2ac86f4586f61e02f0bbfaa9d97a0517b5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2094/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2095/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a46e60397da508fdd762c96b41d9c70cba45747
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2095/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.056_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2096/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9109b140e5df6a6e847cb18037fef4a39e704d52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2096/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.052,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.052_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2097/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ffe54836ef17fbe6abfbd15ffc0806707adb02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2097/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2098/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3010a4e1a5294cf265a280a8b43d984bd85cd6a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2098/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.060,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.060_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2099/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d37076888a763b0deaa6f4615c6b6f321ac98b27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2099/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_21/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_21/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a41dd91d3e18bb1e95fa8e52215f65e3c0454bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_21/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_210/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9714744637735d9b35f6f2cdba35419c00944b89
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_210/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.068",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.63,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2100/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0bb40b7268fabd9d5d69cfb583bfd4575311f18
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2100/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2101/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2337d062eed64b81805187605c00d5ea265b683e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2101/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2102/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f76bdc69def4671932c9b6a884f8d4be8e66e6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2102/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2103/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56773292eac3c765cba799fd6bc0bd6be1c3142
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2103/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2104/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf2dbd435bbc16629a79c25e355e5c416edb66e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2104/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.056,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.056_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2105/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cfeca670d7d64abbbb44ed160b0ee3ccd7ca8ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2105/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.068,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.068_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2106/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d265d4268b3aa4316a45931892f61f68d137113
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2106/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2107/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ab49f377660a63ffb5c66e5f3d7063baaab1dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2107/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.064,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.064_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2108/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb54e3b93383342729f282874a18efd024ee095
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2108/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2109/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ec7d874134513560eb4d5088e415e85a4b9e22
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2109/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_211/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b7e398e25af2fb95eae38775da649026172c5f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_211/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.064",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.597,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2110/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef115c0ce436a2da89f0c11db10eb2550721c9a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2110/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2111/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1bc1995ecffdaac1918398f7b9212815c70228
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2111/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.066,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.066_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2112/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a8b75d32fc813b8324d3776221196ee6bc7945d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2112/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.070_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2113/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eff306145a9ebae92c9d9e0a794b3a12787f6f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2113/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.050,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.050_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2114/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b68e0112f5c2e442fb4ea45d9168a5386e44e36e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2114/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2115/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e6029e04623ca46326a884c71eb6908eff89bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2115/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2116/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6838a381f3a242f8e101a1db877f8b3890b12ac6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2116/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2117/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82eb49d73fc874493956e1b8eb845248df1a31a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2117/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2118/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78430696c70d7ccfd7d70c68e838f7b726a81c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2118/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.060,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.060_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2119/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a67723a4a3bba2a980d0a3b15053445bc36f6e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2119/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.052,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.052_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_212/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0ebcb3db969d0c864e9b70e34f06e6309b2d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_212/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.052",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.495,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2120/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa933ebdaf5c3bd32da6f3bbe46cc8eb3ef3d73f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2120/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.058,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.058_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2121/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02bec273f425af20ea9dcc23d312ef669a10695e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2121/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2122/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..811af970c410b1576920f24e47534e6febc349b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2122/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.060,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.060_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2123/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc154a23120846bce910bb8701a76c25ab65cdaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2123/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.056,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.056_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2124/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e9a25b868ca32f596064e1948189603e6012b68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2124/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2125/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1abd97e396306059389a1c1ba6a89df920a8cf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2125/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.588_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2126/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aebbecb5065967d8b8d9a4e687ef193df89a7ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2126/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.070,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.070_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2127/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa41e62d74a61db41c9f1bf835fc00c86abdddef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2127/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2128/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b40228683828b6c4e9f70dce54c8212d758da336
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2128/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2129/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be75104e64b624dee3021c35140eaaa5e612da7d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2129/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_213/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07caacaecc8d25ea4923549b09f6fad168ca484d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_213/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.066",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.569,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2130/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb7567bde40435d2b5a01c48f76947e01909232b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2130/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2131/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e5004e9ce7404672c6042630e2fc3f9cdcf0aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2131/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2132/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb40561361a0d8ad69c13a3daa2540e9a99e609
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2132/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2133/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8f18a71f95d2aea066f7234b4932c3d6faeb82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2133/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2134/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe79a2a2ca1cd3028e31102f42f44ff34903218
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2134/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2135/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6fe7a7acde279ef2a96002f809f25cc6c372b1e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2135/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.056_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2136/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e175575e5e67c2b7a4a7374018374748d1d82623
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2136/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.056_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2137/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f14855443ad319c95381876e5bc3e826325ed31
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2137/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2138/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f81fe5f2bc930a94c42253731edb4b2673f517e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2138/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.070,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.070_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2139/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2127771d6e7cc3a79b3015b010e4dd83f311c124
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2139/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_214/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..440feff0a40b3c8993a9d315fa28adc6fc88f03b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_214/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2140/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..332e85c0595969c3eae15de0f2919515d0b396e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2140/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.1_0.0_0.0_MultiDynamics_5_0.508_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2141/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0b92b53dbc5644e9e00f07180f45f4ddac5191
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2141/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.054,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.490_0.054_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2142/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c5801ec7caa89a0ee6c34e6cf7640001b45a25d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2142/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2143/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ffb2dc93f3ae25f0e7d649fc6c9d420c2d25ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2143/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2144/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a044f40acfc49324e531dffd410d909d0a5bbcfb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2144/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2145/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..675bc65d1b29b457394123e2b1a7dcbebde9193d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2145/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.070_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2146/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9dd8f16e538dbc562276d307ad12d18dfd4e701
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2146/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.060,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.060_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2147/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8e77b8ce361c4d140a5f6793826d270a7011ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2147/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.056,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.056_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2148/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9cc4deb04999dca7791cbbd408da90157f2f09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2148/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2149/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..968c78f23db8b600924f93c2dedb72b1e49ce7dc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2149/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_215/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd51192d94a9e685eec2f4d6208ae98d0c935721
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_215/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.052",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.597,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.5_0.0_0.0_MultiDynamics_6_0.597_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2150/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..593f3785ad996cf2771f7445e31c52f33d4f5569
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2150/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.054_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2151/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e80e7b1d23e75f838ff0eab15ab39b6522aef2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2151/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.070_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2152/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ceca22d7568daf39f1ddc6a6d5f2b188a25287d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2152/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2153/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7206066fec990a9f2cd7df1e38b855ff7be54f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2153/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.066,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.066_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2154/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f684fe2ed63b78a8115cc931da4a1658963acd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2154/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2155/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a769a20cce36a616ddec5348f187b04849681edf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2155/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2156/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fef0bae467e6a15f2af01579d17a9b137e81e39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2156/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.060,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.3_0.0_0.0_MultiDynamics_5_0.552_0.060_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2157/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e2beb11f4c1cde4f61b40de3cd64f3dd9198dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2157/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2158/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d05db29c10255fa5bb4e6a536caf2e238e99aae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2158/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2159/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9694926f71df25ed6da02f845ad62a669c8e6a6c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2159/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.066,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.066_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_216/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae70674e4301bac78b6e474ed846fd74ac0baa1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_216/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.052",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.613,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2160/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efde279c74dd150630e4a75c4a66aa15d044ece1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2160/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.064,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.064_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2161/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4fcc69c58d5a93aa8fe290a2f067a2b483aa66
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2161/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2162/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..089016619fc505af9bdf79f8840d36a672298367
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2162/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.058_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2163/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcbe88ff296e101d754b133d194da968cd438d52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2163/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2164/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a966211310bcbe358847fee47bb672743507062
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2164/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.050,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.050_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2165/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe675a4f65544f80496d9ff9c0bcdbfed6f7782
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2165/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2166/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3c1825148d8eac02caeed3bb19af3a40ca0b01
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2166/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.050,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.050_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2167/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3314d34dbc0077892b88eea42359957a3f21f62
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2167/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2168/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27e0f8cf44f34199897b63bbf6e1f83539c44b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2168/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.058,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.058_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2169/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af6e44651f73e5f52d022163f277b44db89181bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2169/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_217/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e09c2c1cd924a2ee360121fbf0c3eca2fd5d98b7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_217/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.050",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.57,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2170/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f04318929104dc88f55ddba405de9da212515a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2170/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2171/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47b14ccaf386e9eb196dfd7754cc87d9300a7f2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2171/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2172/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a841a5408acf32142f9368545b74323720a6c05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2172/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2173/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a1508eb17f806b27b95d51cfec6182acf27545
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2173/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2174/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fcb5abd3d27389c4c94ba331a0fe81e6e2db9b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2174/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.060,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.060_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2175/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6040f0a53c6f3b4c5f983c719468e13d3e44821
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2175/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2176/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4e0a402430e03b32f0c793db7f4296f3318f28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2176/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2177/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89471df75d98025d14c4f3efbf4811512d61b993
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2177/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2178/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5372d18748f247fd3cb83fb8a1366b77819dcf53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2178/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.052,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.052_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2179/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ed82944101c5028a130062758df77df74c26ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2179/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_218/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca77d746345137c8f32fdef7fc8a216afc9b4ec7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_218/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.066",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.56,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2180/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d070e6625c371e31776a54cf2f97cb347f011a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2180/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.060_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2181/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b7b9824ec57141ad4041ecc079e54077cede1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2181/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.050,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.050_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2182/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d368e0d5dc2572a27b2bf6d2ab50c425f32013
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2182/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.585_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2183/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5ef5105447079f8906d5eae1b85adb44bac6d5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2183/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2184/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d9e18ee1b46bbce7aac5825452a6b4ba20bd70
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2184/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.058,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.058_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2185/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7aab39bf0d4b3c4b8362713c3e86b28a6c53699
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2185/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2186/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5231eeeb84870369926182c5f15108815a781c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2186/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2187/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9956f2ec2bcea8cf78f2020c38e460dcbf8bd446
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2187/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2188/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..362db55f489423574a429224c3dac3b52beada2a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2188/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.054_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2189/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d99fb2d7d21a1064d033c992d1dc1044aa760bb7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2189/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.050,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.050_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_219/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82738e27d1998b35b62069f7113e71a775c1a5c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_219/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.064",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.616,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2190/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9441a1611eb17ab52bbdfef99f7bd76b1dae9ff7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2190/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2191/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe74bac637d6dbe6cf9552c40e83f8072a28c90
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2191/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2192/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c9cfb7fa676f351b1124e89a1eb04c55e0cac9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2192/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2193/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b691a187ecae63d1a029a243ad26ace46664e7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2193/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2194/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..109fdc32410f5d82c8984aca2d0cbcb34398a824
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2194/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2195/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9abdab8487f5ff149718a35a82c17421b3f91f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2195/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2196/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3462b3eeb0984fe337711b7600678eba76ec8130
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2196/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.1_0.0_0.0_MultiDynamics_5_0.508_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2197/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da6be5d17626e5992407b35e189105f35a0f683
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2197/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2198/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5909a4d9b2a73c2c676fbd69c15ea408a2584540
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2198/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2199/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef240248edf1b5d5dfe62ec46574529ef418edfa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2199/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.056,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.056_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_22/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_22/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6200da923e0106e7c3172c03e8b2b6c89ba347
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_22/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.050",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.427,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.2_0.0_0.0_MultiDynamics_3_0.427_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_220/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..741562b782ee252c4981e315e98771822799b5a8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_220/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.058",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.62,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2200/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e141debb17d548668ba44a2673f20c6dd42c5b1a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2200/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2201/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c75c6ce4e302060933c19cd055efe6c2fdefef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2201/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2202/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0f512a53cc3d234313a4bdc66ad86b0ef7e640
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2202/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.066_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2203/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..251795a31f7287cd5060adba2f432cb31d2679f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2203/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2204/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..465b8d9419040044e6a923fca00082297a3c3dd2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2204/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.060,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.060_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2205/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0559a5ec9679514085320469ff13a6cd7bef3be3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2205/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2206/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..822440c3db9f08f14e894b53513b10fe8feca124
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2206/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.056_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2207/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f8e4cf447198607ecfd6869bc3e97ecf107ca03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2207/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.052,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.052_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2208/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace747dbd6b7a0a9256f4d5e9ee7a9c80f873b01
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2208/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.056,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.056_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2209/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edfca815f457385c4f781b75d53c6afb21048cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2209/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_221/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b9bf60943979fd747e07057abaf8e5597b5cd7e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_221/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.056",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.556,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2210/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91b9e6d87c1e5fd9d659b2a822b70abc5643971
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2210/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2211/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..111ae2be3b17e3c0da92ab2b642a55ea812c9ab8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2211/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.056,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.056_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2212/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c976f7eedf93e89f37781e374743ff503a3ff57
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2212/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.052,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.052_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2213/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3db89ab080b235f13100735f857237fc13e5f06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2213/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.060_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2214/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..336e86a9f074184f3198a7a223997487bc5e5b26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2214/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2215/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af3ef0db09b37cc4f5029f7410068e4fa30bafe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2215/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.052,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.052_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2216/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5221f4b535f2e1aa4208ba7bc6bb8a8e142c917
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2216/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2217/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5e3535a6dfbbd627d792483c63014dc07e7d84
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2217/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.060,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.060_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2218/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cdd2a2b9b0e2f96d3e34b69882987a16401a17
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2218/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2219/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be7d31fe6770527c78ce94df2375f7ee20da1b63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2219/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_222/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d861ab17ec0e79b904448c5577ca0def8fe7ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_222/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.068",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.613,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2220/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1e587951641f05591813c2be2bd644962be51d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2220/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.056,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.056_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2221/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b4d7b79f75aaadbbf6240f42722172755e47f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2221/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.054,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.054_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2222/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4feccb377107e8417012ea497f7f3ed60abb5a50
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2222/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.068,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.068_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2223/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5b30aabdf99dc7b75ba3f8154a5024f0f95357
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2223/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.054_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2224/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6ddd2c6f2f8b765f7350f72a2bc9e5cb950e92
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2224/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.060,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.060_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2225/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe61af63ebe6c85c93d8eb31ec13a97654f76d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2225/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2226/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8206678751efaef0c22b394e6314a8d063bf5fb7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2226/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.060,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.060_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2227/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80abceb00c803b4d687664970d68de901f03ac1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2227/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2228/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1e744c4e18ea10bc0ce520cb48d05cfa894265
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2228/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2229/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..161a3bdbc03022d15031cdc4f19686cd7008b20f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2229/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.058,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.3_0.0_0.0_MultiDynamics_5_0.552_0.058_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_223/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8d17711b209125c3a1fd7efcd83e7b61114f3c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_223/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2230/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..330e844f3b1df31d0b40d1213d681cc85f617cc8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2230/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2231/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..217bad8197eaeb9236d0b7d4ed5ec42d7eaf1881
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2231/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2232/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e35749690cc300306728675a194db18e4b47148
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2232/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2233/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d492566cc656b89110f1e8518c7589f5cc7189
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2233/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2234/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d69a00ee78c44995d293f699173275b80d4098a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2234/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2235/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6522051ce8f70ac59f4765f628b8698694ed36
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2235/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2236/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..555b2482113af5578661fc7e26dc7bef447b0e8f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2236/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.066,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.066_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2237/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c05c7e8161c0dea7e9edba4fa0ac6e6b6fbefe8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2237/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2238/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64edb1d42a0ae8e6a183ce8cdf8bc185f3ea2183
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2238/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.070,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.070_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2239/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b729375604ff1ecb16f48c7bc0e7fb95d9127aca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2239/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_224/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..977ffc136ca8a19be91c329df2f1ca0f7424fdd4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_224/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.477,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2240/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80fc48869a0fcb083d9a095fd804795adf0c262
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2240/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.052,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.052_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2241/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d04cd33740d45be82d395fc1bc42fbdd92c1da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2241/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2242/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f9fca294818dc3a461e011aee83f4426a871213
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2242/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2243/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db47f41dfb1cd4a4a52c72c276bdba8a1f6f8135
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2243/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2244/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b8a42b1e4f34b602c672bd17f2087463b7af7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2244/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2245/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b23e752468342027e43e45b4c42072119e2dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2245/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2246/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2c37e34d29a6f6d13d6f31cbf8bbfbf755615f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2246/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2247/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93285202252869b73d31bdf29518f44ec2ca1076
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2247/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2248/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a0d5885e3ac2671e3925af99f934b874e285f1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2248/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.070,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.070_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2249/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0318ba776ac2aecd9d1a9ddef438c99b44cdcaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2249/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_225/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8e92415a3bef5d174d2a8d71c0c795a277c168
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_225/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.064",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.516,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2250/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a3d040e5df30b03c209dfd344ce2f540e5540e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2250/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2251/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1632dbd6433f804ec4a797c9e960a81dee653576
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2251/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2252/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f932b4ef311f7ac51546e2e62b6b57b3f8ca1de
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2252/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.480_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2253/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61291ad079cefe2d37738847de995701a2fcccba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2253/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.510_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2254/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4970666f9ecb4499e210970933d3d63a69684a3c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2254/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.068_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2255/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ecfc757d2bb036fa38be2ed344048cb1e5cf4a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2255/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.054,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.054_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2256/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..affddc752e20095852d8cc1dadb7fdc748b42754
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2256/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2257/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c71e0531bf95565dd2d57f7d0632a71ad7e10410
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2257/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2258/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50049dc62846d163a1aad7a02315728178f1fb1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2258/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2259/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dda754af9f610adcfcbdc960eece17e85f7e232
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2259/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.052,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.052_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_226/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2e4ee6241c7c7c4b00afd9c2ecb774b180fd215
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_226/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.58,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2260/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..774343dca3cd1ba4f1e768d475885f1b4d462c7a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2260/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2261/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2622f5aa040e92d026c61a3203f87a1db729954e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2261/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2262/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56057b603b44dd211e064d8e46c253e3813fe4b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2262/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2263/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d0ecbd7a851cc1ebaa6c53e612d35f76d77fe44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2263/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2264/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace89fb0778b016a06be79f554564c0c0e5bc92e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2264/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2265/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b48ec8f5fb60c78a2e071d4ba2df1793e1a24a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2265/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.070,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.070_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2266/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad9ba0f2bf6280a88ee7c4c9c9381a4bd6bfbe8f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2266/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.630_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2267/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99ea6fd40b60c246466fa06532ae5989ebdf1122
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2267/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2268/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c2e388eb06323c988b85668b283740719d26648
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2268/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2269/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c5920f126351b73d652e6531eb46d42f8b83458
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2269/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.056_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_227/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b287114236717399f5f9de13a4a8e3363cf5ff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_227/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.054",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.613,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2270/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c454a5d820c74bbf43f36021e42d4218d5aa61e0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2270/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2271/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6e5eebbd62cbe14c18b958e3699a53f791913a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2271/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2272/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c0c0292771e9dbf7edd6732587943523c5b3ec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2272/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2273/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc2c410c8cf757bcf9be1a2bc0efc9842251607
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2273/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.7_0.0_0.0_MultiDynamics_6_0.530_0.052_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2274/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3d5e2dd69feee55d59b92afc88656fe213a266
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2274/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.068,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.068_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2275/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1352ddcdfac08b59eb5007b656c1de07e0ca4a4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2275/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.066_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2276/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a17150a8fa91a904cb04ec5c45d2dfed3b2761
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2276/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.588_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2277/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff035ed8156433fad4c9145017a38649dfc340a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2277/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2278/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ac2f01af791bca4f5e730ddb286168de32ba313
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2278/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.056,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.577_0.056_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2279/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f788ccc065c87efa1f5292be5eb31fa32fc4f593
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2279/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.068_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_228/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d371bc4b5c1d04476024f35169a53e654e1018c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_228/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.054",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.57,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2280/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8632746ee0ce39a22d0d0f8a9a0395c70c173c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2280/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.066,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.066_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2281/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d174e557cbc2ee269e63a8cf1f8ed54c3afe138
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2281/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.064,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.064_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2282/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77c6b9886af3d566ba765bdb8476edb958a893f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2282/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2283/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28629195df59be9bc223c29ba7d6ca2d49a5abe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2283/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2284/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b2f8bffb4624066f4c08cd2c1754af04c27a6f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2284/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2285/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00fb563a3f12098584ddca857cf41768467a75e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2285/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.060_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2286/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4d36c81a34bc0a46a6b73bc226e31087ca6ac9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2286/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2287/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c372553986f7433582b5837a2e3ddc5adb00a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2287/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.070,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.070_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2288/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0077e61d801bbf947c6b7cec8296073c0c6dae4a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2288/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.070_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2289/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..729c6f691d712fa291109037c0947820692ab265
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2289/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.056,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.056_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_229/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68229ef4a934fa76040ddcd8d229e063cc6b0cd6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_229/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.054",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.493,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2290/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c7076d77d5cc3daa75c1e9c6bd9822afc4d44ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2290/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.068,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.068_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2291/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f6eb14b93827383361b8112f530ab5e83c7570
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2291/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.050,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.050_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2292/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16e183dff66a20661afddef07aa8d41f7e5c1ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2292/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2293/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5901c5ba44954292849fae75f078fe91c29b6a64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2293/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.070,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.070_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2294/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20ea64ef4a10f8e7bd02757c9bffdbfa8a62824
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2294/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2295/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e006949c831d8210a60ecb75f94b0065f73f083f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2295/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2296/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20532249ec5c576e80c2a4441dd1056bfa4a22e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2296/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2297/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d014a545659e0a590037de7dc55b3acf82d1a1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2297/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2298/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0067a9790153fd41ba193893c8208a2ae974c19a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2298/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2299/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35b964e27140bbcdcfb8afdcfb2a2a3f16048aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2299/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.066_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_23/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_23/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67898141e5904f2d4a428f192df75ef21ff5b588
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_23/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.060",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.613,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.6_0.0_0.0_MultiDynamics_6_0.613_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_230/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..657f0ce8f8e12345430f5e6fb71da6e7dc752a26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_230/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.064",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.57,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2300/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e878e188116e82af00f1cfa1241644c63199ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2300/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.060,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.060_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2301/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd5a7553d521332cb9eeaa27b093e4250a54b2d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2301/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2302/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d8ed80d67d96a73511e69efda81d37a335a7351
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2302/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2303/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be12555c11f0789eff33f4692025efcbd415750d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2303/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2304/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b46aae4fe82482f8f47b5e23ef2560f8ed99485
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2304/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.056,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.056_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2305/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..290c4f15ff9ad6357f1b08ea10cdb993313e696e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2305/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2306/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17dcd642ac17a3559c024a3fa8727e7f1140f456
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2306/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2307/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e161e72259729bffb2550141227e2dff95f88719
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2307/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.7_0.0_0.0_MultiDynamics_6_0.530_0.068_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2308/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d7cf33e951e931117c06037fa2c8f61186ee6b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2308/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2309/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2faf2b1a3247936832c9ffd9d19721e388cd89f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2309/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.052,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.052_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_231/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aefcee762f2fe15c4f6a6289845c7e882f33d049
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_231/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.052",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.563,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2310/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26468ee67aeda705c79c5ddd085fffefa6a80f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2310/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2311/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b742ec833e71ca75d237666dae31e40d714883c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2311/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2312/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b2494cd20ca61828dae080631d8dc531822b8c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2312/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2313/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..224f494d46065b835140e64c5d17c29f428205e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2313/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2314/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..316005f4f5bbbfc3711e5dfa80178dce4fed814b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2314/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2315/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91bf33d829e0d7af03df7e3a1f557c079373b5db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2315/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.050,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.050_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2316/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d77763047ec4582e8ea1369eaa2cb47f80b215
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2316/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2317/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0747bb6f02b22685b00428b02f419cbe21c2e509
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2317/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.052,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.052_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2318/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72ed9bac2781a3f40d4175763a2abef113bde43e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2318/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2319/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d227a2a63ff3d6ea2fd853068baad2f8960bb8c2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2319/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.066,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.552_0.066_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_232/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aaacdced31dba8369ac003a702bb90bf085f6c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_232/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.477,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2320/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3d29c1517978fc8a72fbd145706f0d16f13e63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2320/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2321/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..598ae0bb59d919c20ee581e7d5efd5662be5a1c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2321/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2322/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2de9a984f0b2d2cf39c8a80134ba35bb48731b1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2322/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2323/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c919fced1f08fdd2767ec98e55da989eb9bbc7fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2323/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.066,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.066_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2324/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..575bf01527acb65d3ad16546bb05d5df63cad6ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2324/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2325/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..481340001c5b9ebe6f1ce9c10a854a180ead9a0a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2325/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.068,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.068_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2326/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f577f97cb18c0eaf7a250e2d5c1162639914490
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2326/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.068,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.068_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2327/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d6f3c523d8600ef5aaf8f621d07955d0828747
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2327/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2328/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a2464358024138d5dfa6d76215064f46d66bd0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2328/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2329/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2e26acbf3c22d1eb565cbdf7456ec96baa8c59b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2329/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_233/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17731ad443bd43d104298fa27892fbf5d9b91343
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_233/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.53,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2330/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f3ed091e5cd803e744096aacc3b0f39be931b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2330/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2331/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e164158001cfdb3737fc71cbf2e92d648c8fd9b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2331/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2332/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84e2d1149c2da47432c21029de0c62dfe6e8a91f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2332/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2333/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4da6bdf65affa2014df68d3d28508f904fd4a43
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2333/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.056,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.056_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2334/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0336fdc99b104190ef13681c985dcc03b06ca506
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2334/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2335/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e14825fa7cbdc1b5a970b4035bf4e540c9d1f45
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2335/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.070,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.070_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2336/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0dd37969de60b4c7c4abadb04351c30f40b040
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2336/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.058,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.058_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2337/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd3673f7c45eff6fad2d57c7dbc8c012eedbb91
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2337/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2338/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c433e5965abacc6129f052cba5a41691f6b04e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2338/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2339/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c542b15e8dd039813664412df5fcdb3b4af331ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2339/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_234/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e2c26bcf341277be6373480de27ff43dac574d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_234/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.064",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.527,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2340/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c0fe6931f07a45950d110914268f0f4a0b5a438
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2340/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2341/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5fd510699c2a0529d5a1f5dcf2bae0f52bae2b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2341/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2342/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef28bec73ea8506f01943bd7d7fbeb15fc6566da
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2342/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2343/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b39ac59cd979d3b8f1f4806585dcddea919976c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2343/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2344/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a6ab25c4935ab203cf40041a4b3b8dae28a2f8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2344/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2345/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..550ebf0778307ad36c41e579dd52dbe3cfc2cf12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2345/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2346/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf541beaa393e9e938daa24f2ba5c174d5c8fb6d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2346/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.068_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2347/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9819a46ffc1e1541fa35de7d5bff602361a541d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2347/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2348/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ea326b962400681a64bfb2aadab6f738779029
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2348/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.060_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2349/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e530624a579d63db0f9160a6b0ae63f150c357
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2349/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_235/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac5af722139ba4524b66743d51d20aa1e73de60
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_235/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.066",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.593,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.7_0.0_0.0_MultiDynamics_3_0.593_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2350/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8451609e93747bf38da850d27d40f4757365061f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2350/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2351/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d274fe31849ae40efda5805f33f2efaca74ad99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2351/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2352/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2cdd8656ed97dc6a3e0052ba4a8abc25693cde5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2352/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2353/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7311074efcfd367823358e9bbc9fcf1d3306d94a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2353/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.068_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2354/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7663fa7e8e51a403346efd68684530b53879e35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2354/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2355/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9128cd1bc2de199dd548aa69bc7f9e5515fa81a8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2355/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.052,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.052_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2356/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64b44b9b0de464a57758c8e52771e7ecdf08684
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2356/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2357/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf56e2b218fc5df92ecd5c1d6a2a678da02bb44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2357/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2358/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd915669838135b4f18114729092267f515575d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2358/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.070,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.070_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2359/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42961b5042b58c295464e4fcba8b9c009cdad27d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2359/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_236/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eeeef255ea462f414b66167f8e752b2e5f9dae5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_236/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.066",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.63,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.7_0.0_0.0_MultiDynamics_6_0.630_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2360/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f297ec9d4ddc9f3cfa4b0fb0769316cd8f8cd56c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2360/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2361/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28eb216ae612b991a529a8d9fbc5fd1261e9e05d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2361/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2362/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3dfcda9875eca0fae2c649624fa65cadf750fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2362/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2363/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4629e5c18763982135cb640e1200b3b6e9ba9d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2363/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2364/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e902a213c71027d0ba7fe94d8fcc496e8c43a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2364/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.052,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.052_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2365/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57021dbaa48a7d0cd76055492832b4fbee3ed139
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2365/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.050_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2366/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c747bfc19a9e0f2d75758aeea57731a9921a96
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2366/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2367/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e360ca0b227797c7f6ce37873665ae153f60de08
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2367/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.064,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.064_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2368/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b68ae771dd819fc8808d1dbeaebbabdfb7ea9c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2368/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2369/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..888535943442231a64af45f9713abb248a3430f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2369/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_237/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b92dc49b21862991dcdca17518577fa0e12b93
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_237/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.070",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.595,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2370/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a79af8e4e8691f9373551362074eb6ef579c8d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2370/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2371/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc2b17f16c63b4f76960266a80af72c55bcde09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2371/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2372/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7763841bcec4a7a1b6c6427d3ae313f1f822fc4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2372/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.052_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2373/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f655e730bd012188d43c6a5b033c4f04ceb367
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2373/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2374/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9502a9be054c74ca679996e30fb34e4156d3b4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2374/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.058,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.058_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2375/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75c6a9aba17e2a6bacd94f7a56a76831d5012b0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2375/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2376/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f8a123090da4eac864da440d26741aabfb18934
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2376/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.068,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.068_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2377/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6580e6b42dc19bea8839148e86eeca36670b6bdf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2377/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2378/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd568fc85f6b0e5214245e214a929f2c1ce0ca3a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2378/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2379/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c572c70d45856b6b209f2e54f55b93176729c040
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2379/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_238/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c1d92f090aa1d7ad0f45e93cb8392adda46d9d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_238/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2380/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e09782dcc1067bed796151d8853ed6a129419c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2380/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2381/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ac66cc23ee2149013f41608b35cd9d0697b1d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2381/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2382/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..290563bd8b8ddf83ef1df1d27d1811df15af2927
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2382/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2383/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2912aa59a507f90437b6f41a9b0cecf46c0a5f3b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2383/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.064_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2384/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5954f5b2e4ab1b5fb084a1ff2dea39e6a63c59a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2384/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2385/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49ca284dab2111fab5c3bb0c528e8b17fea181d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2385/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2386/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb7785ad8dd2c13cfe1eecf50131a6f75f5f84b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2386/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.060,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.060_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2387/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e36e619737c36f763fc4378e5cf92acb7e02922
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2387/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2388/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df4bc4c2feb42baee265ffc54b586fe1daaa197
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2388/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2389/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bdcdc90f39d356eee1546aca673a853089cf085
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2389/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_239/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..315db34379c410338722540411a4260196aef9ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_239/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.070",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.595,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2390/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb487028530b810b4f4957c562c51081455313e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2390/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2391/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51a174432330f74e1850d94e0b96aa72bec067cd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2391/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.056_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2392/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..092c45b4d96ed16d941aba7135e44a242213c40c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2392/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2393/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a9ac21d711fab5d86ea41fc97a621f6100a5527
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2393/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2394/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da524d561d3002fa7b5fb71ff2d32b60381b9723
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2394/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.060_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2395/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd77678d7237e21cf036ac25c76db3af069fe5ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2395/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.050,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.050_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2396/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6ae834a3fc3db6772353ee99bd392365f5df75
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2396/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2397/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54462ee6fa798e7fa255389bbc97a19b4df10b26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2397/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.060,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.060_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2398/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..731a09523e7afd3067fa48f5c00aa1212d0b086a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2398/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.630_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2399/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09dd7bc7871d923b3696346967e0f3ff0dc2940e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2399/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.058_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_24/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_24/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb0c2416ca88c78b8cd2c8956786204c25a4c66
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_24/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.070",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.556,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.7_0.0_0.0_MultiDynamics_5_0.556_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_240/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cbca6f9a725ce78a5a33eba368baf5de8a2efcc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_240/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.068",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.563,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2400/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50395e69750771b73277e2a68e9b5ee6e738b6e0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2400/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.056,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.056_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2401/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b53c5513ccd22d45efe73ec580bca345d20be77a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2401/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.054_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2402/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc51370b45ab6cfd27a1278da32f78feec44b3e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2402/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2403/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1993f9e6ab11f8e2483e0c83b44f88815ca9f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2403/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2404/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79d89918a3c0866929f15635f7e88791881bb7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2404/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2405/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43dc514cf2c87e13afb09327b97daa68db647b77
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2405/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2406/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad4d24dd132b5524e816f00f4ad1e46daa0253e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2406/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2407/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9b03d69743d96fef57aa66a10044279ac4bd06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2407/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2408/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a99e73cbdd5270b0360bb3757b17f58041c389
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2408/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.064,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.064_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2409/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e2c2c64c7ec22e4f41e3bec1c380ffc405dc32
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2409/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_241/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fafd35ad863d24c82b8dc127ba5bf54e9c203d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_241/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.052",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.576,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2410/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b304cf0abb045333f4211742652136b2e2274b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2410/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.066,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.066_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2411/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad25a9698ccac842f0252c5d89a6a1a9c97b33a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2411/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2412/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd75ba19e616e0689d6ffd2b4fa2e6c7432a33e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2412/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.050,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.050_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2413/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead689020c446c1c16b16e3eb066ad78d4f532ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2413/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2414/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa547677dfc768b80bf6363682fca152c2e2ced
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2414/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2415/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9012b0ec6fead054e12a2699a1004640c81962f2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2415/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2416/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..697b014cefe07ecea640b9eb8b105ba05dfb75fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2416/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2417/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1002e39f46cb88e0c54c27bea7588480cf2e3788
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2417/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2418/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c8c330ddc475fbbc3c66098f5720744e562563
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2418/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.060,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.060_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2419/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e845e824946857a69bdfb49df3126d4f7ee1798
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2419/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_242/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db44773cf040c2a44c3dadbe45e297fb19e0fc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_242/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.068",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.56,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2420/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6736ee97ee51d864993050a39e8f5e1f1e54ba7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2420/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2421/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c025b856c5a5d497f96ef6c7f968a06b996c6753
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2421/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.070,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.585_0.070_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2422/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31de45c75cbda1b4d1941ab9d7748f032edf9657
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2422/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2423/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd37db4201c196ba89150a2239e82df5a36d4fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2423/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.402_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2424/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f53e4fbea23f8c6f173e33d1c17daa354d16549
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2424/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.064_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2425/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56fea6bf78ce520d33a28d47f3f869023b32a16
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2425/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.056,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.056_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2426/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a664e3b8861f8ab551a7465a0c58f278af92f528
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2426/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2427/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53da255f5dbd40abb56a77000acd1013e1f90b10
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2427/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2428/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf852ccef8641d7ae7a81f4e242fddc5bba331f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2428/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.070,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.070_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2429/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f6a7cd8776af24b0e62f29cd075fa065dfbd17
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2429/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_243/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91272ca2e8f2aee8f982458b86cacc854855452
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_243/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.056",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.556,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2430/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f244a1958f5ea29dbf1e3b2ed56d95ddf2163f33
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2430/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2431/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37407e8cff6a6a96cb2824b5f8ab7e3a76b34986
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2431/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.536_0.064_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2432/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..083c5115456ae244d4aadbd07f9cef3aab832ea0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2432/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2433/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e7047a7ce6cfaf063efed6b2f6e73a2871b3d5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2433/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2434/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68437da5a8fee8c96135712e5daac9f0cfffe584
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2434/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.068,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.068_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2435/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6933b5393f23dda438cfc10af24f10bc2f1f0b6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2435/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.060,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.060_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2436/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e158c9984047903ece1049aa107efcd130f5c563
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2436/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.630_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2437/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3eebc254d42ee00d241519fed6f163547c085b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2437/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.054_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2438/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..016eb5367d80b589f990d0849ec375c03bc1893a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2438/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.054,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.054_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2439/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efa4c02064e8bd5e3169f94debaecc5e586fb90
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2439/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.058,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.058_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_244/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2fb9d16b6dffa65370566bc4efb24639dec2b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_244/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.060",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.63,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2440/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faee666785fbf9979affbc7fee1a48b31369b937
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2440/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2441/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8f5ee9ba61b1c09d8e1854b2fc1452978c0726a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2441/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2442/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f074bbe4dfcf479aa54f137bdd58bac0462f1ab1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2442/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.066,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.066_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2443/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..904e6358b24a849f5ccdbe3cc3d7410148d61b10
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2443/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.064,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.064_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2444/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..274ad53a5f5e0aa9c8fa5921d1f14e9ba8b7b35f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2444/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2445/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f59dcfb438a9df6915e766381e50e735ef2e6b54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2445/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.610_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2446/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57cdfa0a2e8c2869388f4531f1af207d66447f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2446/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2447/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86151fe8d7645ca572d582e8f59a99381b2afecd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2447/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2448/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5823d6aa2857d2d96c10c6a296662f41c1ecc241
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2448/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2449/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78bd8300a5f4355de00b6993c8068d7c2ae7c0ac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2449/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.060_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_245/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7f7792d7ed68292abbcf60f9c9ae769ca81888
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_245/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.050",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2450/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0840906ed7b3e687a56533b98ab35c07b6abaa6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2450/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.068,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.068_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2451/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b670d444a7b680d41bd9708a9c13311a5384e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2451/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2452/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..471c1dea8d6698b39d63c3f3580d289ca020e565
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2452/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2453/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57ee11c776afbf024f8a0797c69f526218f0123
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2453/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.056,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.056_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2454/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00d5cf554a9b59d147b24e17d59e4355f8885d9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2454/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2455/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d79f6655ccd816db52d3ddcbf16b7d3fd2235e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2455/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2456/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cfffc41b1d68c219d832ee33ac92317d91359fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2456/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2457/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77a173b4ed72dfc8f2553b12b77123374f577601
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2457/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.7_0.0_0.0_MultiDynamics_6_0.530_0.058_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2458/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b9bb5f872f4b16c2d9c4e15b4adde6ae9bf3f4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2458/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2459/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7bc901413ff8a470cabb9dc5440e0a7eb7c09a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2459/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_246/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd36765981ae809bd62c05da6438909aae17ba78
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_246/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.070",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.554,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2460/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebc3cc6212180e6745b9c69dcebad20f3b09c928
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2460/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.054,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.054_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2461/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e4f8d6f368d3cd7cbe64073ec4d38891a245bda
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2461/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.054,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.054_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2462/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ee35b305d435dc82470b8cf0deccbb13df3928f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2462/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2463/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8e6168a4ebffcedde31d727036f4808ade043a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2463/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2464/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a1f0c27f96286fc0472e812064b412f18b7661
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2464/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2465/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b509ae534987a6199281ec80a3ebf6e780885a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2465/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2466/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa69e0a37caf2ff2499986901bef94fe91164dff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2466/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.052,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.052_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2467/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86896977bc326c92b8405fc5743c3e591491d95e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2467/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2468/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f8f2c31a5fc14a9e651a4117edae2b618131d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2468/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2469/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..236e29d4be8930b31c5c295f405005e1674ca456
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2469/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_247/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..999b0068c57a6efde00123e93d3120a2df3f393f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_247/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.056",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.595,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2470/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15bb4864ccaf4e75ff02083eafde838938384fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2470/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2471/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8927f36dbd58da5d9512c90413ca1dfc28e188
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2471/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2472/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc359223e137b22537b1bbca1e0222f78129faa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2472/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2473/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d469d5d2bfc53fec1f97f5b1f34416c96671d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2473/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2474/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20cd3b59ff9d0d6e291787842a6730956a9b92df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2474/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2475/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0ef8f82bca35a5c1f5f0a93cd7c834d6532a1b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2475/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.056,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.056_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2476/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42ad008e945b16a1c833eb9f4266e68e144fd40
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2476/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2477/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb6ce25fe8fa20bb35fa86422f32a302814cb7b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2477/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.066,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.066_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2478/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84231f769e535646228e5a33c15a4edfc9b668ff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2478/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2479/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c528b0a2724e3a3235d824be025690bde4d3e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2479/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_248/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df5c5a0633fa0528b93a44f64c9bfd0bf69c8174
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_248/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.477,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2480/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95513c7071a8ced456c5347674e25e061b7ad5d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2480/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2481/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a800f24ae5d44217dd443fbfe878b627fc4131
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2481/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2482/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9202033f9d0df564467097669c4067e3be91c5d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2482/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.050,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.050_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2483/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d17117d56a6fe276d4e4ad4df90c4e20263435b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2483/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2484/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc0eb6a4ccef08e9d491b01fec62f7206ea40d0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2484/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.066,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.066_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2485/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d787bb1bd4682f64b13ec0d2fffcb03fb5084411
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2485/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.056,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.056_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2486/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2bdf8a45a2601c203bcf97c12badecf7e33af7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2486/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2487/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3e3544abf2dbde50b982d76bf5c6dc61e8078e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2487/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2488/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..662f8b6973098f186e4b8038ca9f839556ec8214
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2488/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.050_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2489/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..040d68fc8845ef5388c80e458a89d4ec929e1dd7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2489/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.054,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.054_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_249/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a38e9475be03dea9633743473b95a16120b278
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_249/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.536,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2490/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d59005e6cca9fd9b8855893cf3fc7fc1a7529d81
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2490/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.695_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2491/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b997d2bc68649d7260941e8d13223a39a0937b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2491/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2492/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31a8e8f4fc6d99b3992ea044089a89ea6f5db05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2492/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2493/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4f34e5a34fb690296c9951787466030ff270293
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2493/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2494/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ed3464d6393f6ad1dd8f0d70f6429f4be98a85
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2494/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2495/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..806e0c681f04fed7ab522a96ba976a35e91f7221
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2495/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.056,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.056_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2496/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5469dd2ddd110f00946804389aa480b8b96ada1c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2496/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2497/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54938cca0af134ee0fe655a46fb6a6351cd8e0fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2497/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2498/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8aff9dbeb67816fa0a44972f2b3b1ca18a0da3e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2498/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2499/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b2f4045180ad293f6a712015399176fa36d2dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2499/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.070,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.490_0.070_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_25/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_25/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37ec28fc28ac914d65cd28e4a31ed459a4ea719
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_25/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.050",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.554,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_250/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6615ab6dd3fb18a861faa5b1e50e5049dff8f9c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_250/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.070",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2500/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6402c296af911971278619e6d2b8fbb877632f7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2500/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2501/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e2f91b4da65d56ecae0343131e2fb69f423181
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2501/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2502/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ef6b4d9c055b5ed6a95b74b56b015ce92c46b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2502/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.064,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.3_0.0_0.0_MultiDynamics_3_0.577_0.064_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2503/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47573e8c291c90d88caa6ee35a2a49b469d48e87
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2503/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.058,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.058_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2504/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b24028aba69259b7aca767b8a61537a65d8fd77
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2504/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2505/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bcf738dcd628a8850b7248cac3620df75fd4c85
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2505/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.056,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.056_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2506/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e0ab609503978db6d3577291b09d66b5035115
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2506/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.066,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.066_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2507/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f882a3bf88e3380c81da49885278b1e0c0d299c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2507/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2508/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f6dc404eea4fd97c7f61ed0c9ca08fa65bef2a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2508/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2509/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be97469848c4b361535d60088fdc6ba96aabfe9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2509/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_251/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e960c9a1dd9c6acc3ab66bbf0724bd9d8e28d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_251/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.068",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.597,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2510/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a601d8ec8f58c8457d591184ebbb892b2953fbaf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2510/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.050_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2511/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9022e653a625b0731afdc701828415ac3df3a28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2511/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.058_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2512/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c56c20d64c1d1f0074a9045f84566aedc10212
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2512/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.058_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2513/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..931d4e06ca874a046262af31d8cadda621135c97
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2513/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.064,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.064_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2514/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5465f9d33fee54b654d968d2a3afd6839196f91d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2514/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.070,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.070_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2515/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eedeed90a2ae406bafc7398ddd721f63eec8c215
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2515/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2516/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f826de6de18f2b749eefb759714cfe438aaf8b23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2516/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.058,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.058_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2517/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a573d19dc7f9930efce7d4b9ebc879e11797b485
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2517/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2518/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fecbc8ac262f6521b7af5cac894a5d2de441d003
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2518/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2519/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd5e993186a3c07b64f7b3c829c443f8424b5c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2519/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_252/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54b65b1b29147cf0062bc2eb3ecffe9e912ba27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_252/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.052",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.493,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2520/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d875a0cebf7bc43934c9a49c239a54b1772aaa5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2520/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.7_0.0_0.0_MultiDynamics_6_0.530_0.070_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2521/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7368d4ef66fb704e2b4ca10ab0e1d09970b1fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2521/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2522/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efedeadc566311af979de32150ebb6c7175e668c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2522/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2523/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c054e32a5d2fb9bbef46338ce783ff2c7c893bbb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2523/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2524/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e861c40ea047edf96125ef797ca189411e980974
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2524/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2525/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..866351c477661c3ae70f3ed50aafafefc0311e00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2525/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2526/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0c2642aabfe75a67c1fb42af5cb76d860a7b1c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2526/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.068,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.068_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2527/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92db2adc24e8c6225673adaac2b17f00ff3eba5a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2527/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.050,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.050_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2528/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..635551de5dadda9626b68226296ab8903d2bd879
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2528/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2529/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09dec4148ebe71caa50f4019d4747fcde07ea535
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2529/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.058_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_253/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8b23ddf1472af0af751d55184bcf5132b882be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_253/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.054",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.63,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2530/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4aa96566cc207314ea583263f865d48b11d0495
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2530/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2531/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb6ffa51fa88a7064dd1ae4c22fb5935cb4ec63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2531/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.058_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2532/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1edd6a5914f33764cb8989da15253ea39f2d615
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2532/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2533/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7554cd3a5263c95f7b61fc7cc8cccb759fc0cbd9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2533/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2534/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e8f7e05e2e404afb09c2afad7202ea55d977bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2534/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2535/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f089121c1e02be0af55a6a02708997f981b2b370
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2535/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2536/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..147d09cf9203935d3b2182a170aa97693443ac6c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2536/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.064_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2537/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a567ca6c8abd92edc945346fdac16c9899c488d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2537/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.066,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.066_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2538/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76ae851cb1561afcc653b95093c67fd2ffd0c6b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2538/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2539/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb7c454aa8d56b80af7847556e8b77eabe01cb1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2539/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_254/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4931dc6eaef45038d640594ed37eb0f6c94889
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_254/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.052",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.527,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2540/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01bacfafaa9020028db13cfba11dfdffbd42f57a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2540/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2541/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2173a8276a27f5ad6ce049b5c94980de61c2779
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2541/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2542/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a3e4fbac7a5e15fb5dd872c2b1107abb9f6504b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2542/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.056,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.056_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2543/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3adf8eebdbb4fcc1e6b64a0ad3b43268116444d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2543/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2544/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa2d2a059ed53e1a0a10f16998ae4ae9ceb8f3c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2544/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.050,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.050_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2545/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b4d104e798d44b92441f97b167499bdbdc235c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2545/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2546/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2b15b42560edeb41cbc1f1cef47f826a7f0bf1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2546/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2547/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be38d4e1cdf0c85d9468a87e40be78d2e457827a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2547/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.054,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.054_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2548/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4afebaec166d1538d707a612ec76ce73fe0c20a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2548/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2549/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74363a55b2e143b467ceb5b92e3e01380035a516
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2549/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_255/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52fcf72373f55955daa80b3d57fd9df684b6caa8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_255/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.068",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.616,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.0_0.0_0.0_MultiDynamics_5_0.616_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2550/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb5775330d8d5be1e3747e678f1057219735713
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2550/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2551/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4eabcfaf6e63d5600d6c1fdf9b098562ad18ecb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2551/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.068,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.068_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2552/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc5a8a8fd21d80ef9db23db695f8ea97975177e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2552/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2553/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa715579f94b98ad3fe850803afacf7085e7644b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2553/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.052,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.052_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2554/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d61c900db71c28fa03bac5734d537559045bfa04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2554/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2555/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70095cad20f76099226bad12ec7c11d18eaf7aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2555/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.058_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2556/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8552fce6cbcc8dc08cf2cbd3468b48120c84ca2f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2556/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.060,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.060_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2557/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac6d19cfd5ae820a2abed50022bc02888234f74
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2557/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.050,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.050_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2558/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f15eb85ea950a1e0d20de5154d9aaf029263eaf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2558/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2559/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc2e2a3c0e3ec1fda9e715362a92ec748e49a907
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2559/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.064,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.064_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_256/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3472b1aefdac0dfba0fa49629c7e33b54cbf641f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_256/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.477,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2560/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6a02dae5cbc64f94db502024ef302ffdeb99e8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2560/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.058,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.058_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2561/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed112bbb417804832a739959ccd18e9ec21822cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2561/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2562/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3fdf4f2dcbf48255feef41eec2a60a18b47903
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2562/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.070,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.070_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2563/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..661e0e9a19def0d595524bf927a1ba20d87e3c67
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2563/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2564/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a05412faa1dee6b236f9ea0e7a55896b8b1442
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2564/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.058,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.058_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2565/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ec92b4c84ab608a2f94e48db43bf2efc728108b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2565/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2566/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a22b67b4d5fb40582a7f0686c7ae28d800954d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2566/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2567/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b452bc1dd03182165cad51b4eca6f079703a9f01
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2567/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.054_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2568/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43381645ab717c61ee33a2307b9e9da2505e421f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2568/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2569/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e398f2a872a3e2e5dc693be2d1679347fe1690
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2569/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_257/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73463e9855c89f9a188c49a6d6d5887aa1c91ab6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_257/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.054",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.569,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2570/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da50758342ef1f8d78e234dda1bf234df381c071
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2570/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2571/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4845b889d30176b06e653e3d5d407b816399d5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2571/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.070_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2572/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf3b1d9d15a538f0fc90f4bd22e467cf4f8693ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2572/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2573/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db64874374b37fbb11531a75a0658aac33a759a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2573/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.052,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.052_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2574/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cda833fbde2bb7347bb1d14e8db27b00dbe01ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2574/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2575/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..210a9b6e81fc12d9dfc5948f126e15acb29dd3ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2575/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.050,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.050_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2576/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b5bc01d7c29f0f4482825c5b150708763f28a6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2576/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2577/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3004d195d603f33a4ab99e3d7a17f9eba9363adb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2577/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.050_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2578/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c43d67b21b5558c8d42a20a2703b65865365dc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2578/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2579/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0cb8a0e473f05fd9367f1526a0d18f129081f2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2579/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_258/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57606e883baa43d6361d794f67410438831acd4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_258/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.052",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.527,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2580/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e043af1c9cba1bf6f5f9061a2b79737150581b70
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2580/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.064_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2581/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..968f29cc443167f05f785642eb0c940412c128be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2581/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2582/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbf0d2454fe351458195355885bb1a122a584aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2582/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2583/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e7ce6d95cec1b08b08e091ce62f360f01d8710b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2583/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2584/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c10403131dfbb1737cde5dabe56f885f5ef1438a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2584/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.050,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.050_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2585/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b051f450bed4a2fef3b0e0d7feb3cc59eda893
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2585/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2586/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72092f4b0f05d5daec5bad217d3446326506873a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2586/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2587/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..542e5bef0218e1a3bac7da22edf2fbec334393f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2587/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.054,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.054_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2588/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61bb31c0bddba15a34560d5898662524dd39b099
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2588/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2589/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccc4b2a9c507543a0489851bf7b453e0ac5c6b65
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2589/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.070,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.070_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_259/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dbf291def0181e4a4b1b1840a3a09c74cf2c336
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_259/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2590/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d1574fb2751e3c08c8410a621e804feef7f8485
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2590/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2591/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4124f680692da4599aa48067ed896b8f8302c254
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2591/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.056,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.056_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2592/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae77445c6884881a431307836cd0fc2d74eaf75
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2592/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2593/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2beadc090c3abcb322a17ed4c172e3514af62ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2593/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.052_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2594/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f5bbdf014f039715c3b701f7ffd4ec1b1cf2c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2594/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.052_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2595/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf67eb9f76e7a33786f47e7e70ed93015f03e94
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2595/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2596/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea15d36ba71a872b5024d270a3be512c8e54905
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2596/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2597/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3096557d98367c9bce525b9141caac105e6e3d6c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2597/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.060,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.060_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2598/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a711c921b56b4bb849d198e4d3926707f616f733
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2598/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2599/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4781ed855c26928895cec0fa74830071267c351
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2599/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_26/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_26/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c44203f9f7cb888c2cbecb26f2d120d77878d6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_26/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.064",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.554,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_260/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..062c37c8f7de70746fbf60f40e5dfbb1b885e38d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_260/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.064",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.545,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2600/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..048acb680f58f65d5ae944100388447ce3edac6d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2600/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2601/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a519bc997666ce039489d52e40ae0042185c52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2601/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2602/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d23aa23dfc81993e9bec05bc7a6aee784df686a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2602/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.070_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2603/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..371cd0846cc92400e6de505eda4d06ab1c2e62b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2603/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.070,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.070_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2604/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1cc66f6f9d44742022cd2c45b6524efd702eed0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2604/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.070,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.070_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2605/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43d9aed82141d7e5f62dabaa5455aefe0f22bdd3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2605/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2606/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e10702fbf0025c2d8af63489f1b3acac6361282
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2606/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2607/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4e80ee7bfcfc50904537ecae60171b5020272a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2607/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.064,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.064_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2608/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae166444223befcba30407b40ab9d69dc5c9905
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2608/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2609/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58cc7960f6403b6a514242eecc8aaef7813fd446
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2609/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_261/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc006afd945bf3149d90762c3a74100c69de03b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_261/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.052",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.57,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.2_0.0_0.0_MultiDynamics_4_0.570_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2610/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6563b6eb622462550ead7c6a9f068f1551a8b00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2610/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2611/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a75fbb487136626b92e808ab30eb58a6eb43713f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2611/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.064,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.064_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2612/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0d56f8c6aa719c47a203ffabefc8a7797fa82b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2612/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.050,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.552_0.050_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2613/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd21909ddf64bfd76000bea20513cbec17d13e2c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2613/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.056,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.056_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2614/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec261953870b69ca0dec29291025166ee2209b9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2614/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2615/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a1324eaeef0fe7ca073e8c2d079a681be4b224
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2615/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.052,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.052_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2616/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b0b93e2ee05b228750e6bffa0ab9a32468c901
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2616/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2617/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80edb955a54c74107ee0f18a8f8cebffdce16997
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2617/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.1_0.0_0.0_MultiDynamics_5_0.508_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2618/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b062a1e7ea27e353546ae27e305c91f08440c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2618/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.054,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.054_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2619/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d580f2a943292d963b4420217ed050f6e485a81f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2619/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.058_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_262/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17470912e09da79e3ad6e72de9dd033de07d53e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_262/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.068",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.616,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2620/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d99c04c61c325af8ce3ccdf5ffc23f382f809055
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2620/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2621/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54dda1a73890bce319800ea46eaf5678347512f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2621/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.054,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.054_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2622/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60fe892976e5be917e9105651d5d3948ecfaa82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2622/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2623/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aeb207e7e18f7a6dcee1e4f3ee9ef62ead651c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2623/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2624/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..895044285c9a6a729eaa185a48e8406173b7cb71
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2624/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.058,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.058_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2625/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e21a12b83e453fef778e369b0f0330dca405c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2625/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.068,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.068_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2626/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c4aa4ab53a7ac0ab1089fd3882fd572ef27203
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2626/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.610_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2627/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a7db5f1735c1a8b711c642825cfb3480f27737
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2627/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2628/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d791f02aceaa68dc77b30aea5ab58b9a0145b2f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2628/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.052,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.052_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2629/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2cfd4a4f22a225dac981e62bbc76bd132f8825f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2629/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.058_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_263/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3432e2bb0af3d46c03ade27e2d0181ea0b79750d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_263/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.070",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.56,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2630/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d9639fb708ecd7233e3fe9087d810ce652a9bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2630/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2631/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a335ca8bf390c3fa8aa0497acfc0e383f134ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2631/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2632/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac1403f01996ab8503f7302bc8a9f6882ce71259
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2632/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.050,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.050_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2633/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed246761818a16fbed10806547e8fee8364eb6a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2633/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.066,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.066_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2634/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c86a710d53a2adf1b5baae6dd6ec1c22e53cc321
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2634/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.054_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2635/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f86a9c84bad2eaba2c9eedc49e647d0c37470d2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2635/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.056,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.056_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2636/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c9f8df2ea58c85bb6a15f4652eb5da51e50e61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2636/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.056,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.056_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2637/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a468e4e3edda866fb4425be0072bf511711aa818
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2637/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.070,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.070_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2638/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..727995b768274315e32a2c0d303b66239fb361d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2638/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2639/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5f82af76f53fe5ebe5dfe2a84c943a9beb24a1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2639/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_264/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d487bcb40024dcc7ccaadaca0ab0b246e02736
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_264/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.052",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.613,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.6_0.0_0.0_MultiDynamics_6_0.613_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2640/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81c5866ca8e403624caa561ea06f70a9de9087df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2640/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.060,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.060_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2641/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0657829c2da2194c4c1dddd3086aa7aec8528
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2641/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2642/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5d5880bfa60bdea18e78a0c8557c2690c59e22
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2642/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2643/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d42a7604f269d27dfb51a50ba0a167c71e887ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2643/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2644/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c8f3b4a40e4eb55154631eb1ac689dd46097fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2644/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.066_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2645/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d462db2b7cb0dd287d45dfd87e70e733de8eb516
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2645/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.060,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.060_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2646/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb7eb6fea9d568fb290b03f396c9bd4d139b67cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2646/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.068,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.068_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2647/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..577579319aec82e3e885847e5a5e1589ab27c858
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2647/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2648/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f3a59a8a3f52e917397afc25f2e936e280fbbc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2648/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2649/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cecb4824bb2e351287962a5b7f4ad6df9ff81190
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2649/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.402_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_265/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36debf59c6911a03a672e4f620e9da9a20cff9d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_265/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.536,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2650/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76f3757622d61db845f65a6175d7bf86dfa076f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2650/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.050,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.050_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2651/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95426b8d23bd118e5fc6f69260f133c0e39c6723
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2651/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.068,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.068_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2652/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4247b5ba1d2078507bf9f7cf6d2d572b93b7fba3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2652/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.066,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.066_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2653/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20caf0ed9dd686f1a0c91767145adf4be09334bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2653/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2654/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b59b008227cd6c8ebb112d14edfbe0e389863c53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2654/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2655/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33dfd4e1c57c24cc211ac3d4a11032d6037d9831
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2655/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.630_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2656/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81fbc510ae285ae1490f32d08e318d491d1ce550
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2656/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.054,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.054_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2657/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3265a41e1a8cc07ef16100b43383f70baf1f4f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2657/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.052,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.052_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2658/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcbecef5ea2532080ea4595d53cc44d04dbf00b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2658/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2659/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d8eac54d5fa796c07cbe85d96ac34fa9aae5c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2659/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.054_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_266/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab918588df10a3c5269daabdfad4e6c7a4a05bf4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_266/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.070",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.554,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2660/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..054aa7f5a84160a51eda9d56527e201365a03a05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2660/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2661/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b5ed9d541506c0ef1ac4aa94879837e5c4ff472
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2661/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.068,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.552_0.068_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2662/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0de2e93675fb178f52659d36781aee732ef311e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2662/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2663/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7697cd23b5fb5409cdae89efbaee90da782c1eb1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2663/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.068_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2664/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35b01ca4c51a9c6085f1b565c085a127cc9d0629
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2664/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.588_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2665/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..654aa38424ff3c74ba51fd210799bbfe1fc73d22
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2665/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.066,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.066_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2666/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c483cd6ef9cc7c9fb6d7cf5c9848639baaa5a592
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2666/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2667/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70e8ff6a99cdcc07f4abcc408aa8a76af7f0a58
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2667/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.050,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.050_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2668/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84085d51e8dc154d0c4c312262b7c769f750722a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2668/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2669/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..203d0bf78c9ab574b9d4478fd36998f6d7af1cdf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2669/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.064,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.064_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_267/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d424616b40623909fec9545ae22778fef70458
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_267/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.070",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.59,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2670/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d616063f1d2b46b9f9df3d35612a4dc9b4bfd5e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2670/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2671/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38da9dc1e55a20e89ff29fc8b8496b5945a670d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2671/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2672/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d52bc2aeedbe82b3aaf3e7168223f7c0dad107
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2672/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2673/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..250677594d508a239ab7cb9ed70dbc4a168e64ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2673/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2674/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19f71ded01d0efa5794ffbf232b6e101d9ea32f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2674/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2675/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6dfdab0315ffefcd6f82b8e7048ff881ab3896f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2675/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2676/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a550c0cff466b31c2b0eb7739e19e5c102976ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2676/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.064,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.064_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2677/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e2d49761fa3a6f021c60bd0bb16d75cf46dcfe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2677/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.1_0.0_0.0_MultiDynamics_5_0.508_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2678/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42708e650bd5135fb1386dde94b9781dd30bc5ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2678/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2679/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d94e19d204fb6afbb74406fd665d0d82b9721e06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2679/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.052,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.052_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_268/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f73f11fb2cc7669c120db2d0bd2c5a37224011f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_268/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.064",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.576,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2680/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b804bf7cd64594ed7dee0c5f9d032492612389d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2680/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2681/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f407ea260de5893589779090244ad1da76595084
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2681/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.056_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2682/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27fee406ee88121d7781ff9994529517ff95cfb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2682/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2683/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..731e4c667f22dad8a079d383863bc713700749ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2683/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2684/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd94d535f7ff9ead51d1e32239fc678dc684ca2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2684/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.070,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.070_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2685/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5aa6e32eacec73d96c1f61e21eef9802025d56c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2685/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2686/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1201a68ecbf3bda71f0af20876e8a5f6ffd587
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2686/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.510_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2687/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..350b2d189109e8aefe112ce8a5b93e0e5eea903b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2687/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.064,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.064_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2688/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9e7fb6fffa9200658493d6f047c124eb0a0500
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2688/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.064,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.064_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2689/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e54e913bc9fd42502dffc851d529b2d9f10820
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2689/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_269/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4f8e8e42e92e2a67ff81bf4db0f7ecd0a42ebd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_269/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.066",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.545,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2690/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e64d61e9788a1e0a94f2eb18c0620135768f83c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2690/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2691/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1453ed36d6810a09bea25aa0e87accae81027d5e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2691/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.068,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.068_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2692/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9522d54b9eef33f70f4ac698328eb064760f9b7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2692/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2693/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41b0c6f52abd984deebea3c27e531327ba42918
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2693/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2694/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3422caf71c4297b2efb6a19f0b01c2c2026cc02d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2694/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2695/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c440fa458fe62d4ea32230d25ec684fc8502562
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2695/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.070,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.070_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2696/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe5a34c4a229ef8033ffb937dd24457ecd858c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2696/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.054,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.054_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2697/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60290d6f45b91163be51450cee3e08ade74d346f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2697/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.070,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.070_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2698/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbb687672cd32f8ca548827c212ebed755e1ded3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2698/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.050,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.050_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2699/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6c2c984801aa71b38d1ea9e7b2f19661c07b612
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2699/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_27/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_27/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbb823c685deed07996218556bd5e53c192299d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_27/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.070",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.527,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_270/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..234dee9ae15fcccf8ba84200233a5b1d4a815acf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_270/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2700/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0a04e82b339edb2d104c9e8d5d944415dda4b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2700/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.058,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.058_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2701/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c99acb2bb7622ab9b43753a7c5a624ab45b64f91
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2701/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.058,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.058_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2702/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb300a2a1025461774bf6476634cb5382aeebb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2702/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.068,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.068_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2703/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c8e5f8c8d09dba490be90ddbf0c4dc0b28528b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2703/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2704/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4c4dba8336e5aa79c1f10476b356604a2c8874
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2704/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.070,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.070_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2705/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4482381e795141a25ae968e5bca46581b232b46a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2705/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.052,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.052_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2706/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4decc41086c42f2bcff5415e61298d06556d4c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2706/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.052_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2707/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a892c74d48eba8fea2c5b042b7070151d40a8d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2707/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.050,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.050_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2708/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c62b8f4d0e9ed7126e6abf3d8336f3ff0ae0fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2708/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.052_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2709/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a3e5730e7ca65787b058f2bfa46e174a3efae7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2709/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.054,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.054_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_271/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..282432ff200ae4bf7e0104e2c01618494b9246f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_271/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2710/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05247c03d99ea2f57cc6c16d14e9679dd56fc16d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2710/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.054_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2711/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..142073983bbcbb584adcd6d999b5b6d625ec171e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2711/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2712/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e13fafd3488f7d633828aacf870214bbc57740
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2712/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2713/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d351d97c0f77068bb48e3f183118790006131538
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2713/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2714/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..302909a7999b8847823eb02c99913b422b222fb9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2714/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.054_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2715/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..249b2f67329ec732d2410cb64f0d1b45e5d9ee68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2715/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.058,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.058_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2716/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..896f8105c332c8d8e215ae202071b9acba125c4c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2716/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.060,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.490_0.060_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2717/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3349a140d490e272c9bf49331a43bff96c0dcd9d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2717/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2718/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb38d11841e359ed6f86c928a5c89d3fc4b390fc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2718/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.060,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.060_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2719/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..481fae9dd7f256a1544bc11ce8fc5fba7b1e4743
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2719/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_272/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..552c1befc1fbd818e4f36569162c5ce61e61859a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_272/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.068",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.57,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2720/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff8b56e6c1cc603d35e0566307b188ce665ed53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2720/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.060,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.060_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2721/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6dc8d843c5e325927699636579d4cbba3ea8ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2721/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.060,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.060_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2722/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb9660a669e90685e17a4651befd588bf09eb1d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2722/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2723/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7d1f0c1c194c30f6c9fc60976a895876127132
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2723/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.064,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.064_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2724/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e34bfcdc39a6552b7468423442ae36a0b27bbaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2724/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2725/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7523723bc9476572f455e1da04dac48a86c7f3a8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2725/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.060,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.060_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2726/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae3fcf7bba4c5df21dcbff36600f1897e2cbb26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2726/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.068_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2727/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b755e7d0286eed8f404359dbe8226b25a82a6f64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2727/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2728/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87af6732b5a18c835703015340ec3acc1ddd2b02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2728/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.068,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.068_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2729/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3c538d3a8ae39800bdd61601b3f06c1678bf4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2729/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.058_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_273/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24bc6471c2317de265e414cb3ec36c924aaf1f02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_273/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2730/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a3e6f7f9acc7740c73d0dfbf3649ea407d100b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2730/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.5_0.0_0.0_MultiDynamics_5_0.588_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2731/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..182f8efec6d38baf864348b3047f954e2c89d7c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2731/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.064,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.064_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2732/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b64e97c160369a67f1df56d938bdfd02ad9236
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2732/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2733/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f531c1fd1b43b3cf96da9b1163738d60e82e14
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2733/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2734/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b980d188818fc986dbb422a02f07d529972d4db6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2734/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.060,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.060_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2735/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..670f40f7ad7155fca36e9cd0714a3aca77b0bb03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2735/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.056,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.056_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2736/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca00e9ca05c24ba529762464057258859171699b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2736/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2737/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2c6526fb9dd85231041a3da9cd99b197202c67
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2737/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.058,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.058_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2738/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53402f5754648b01f146888853c7af79c0280466
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2738/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2739/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ffca982a19def61cdca309424243d2ee987c2e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2739/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.052,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.052_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_274/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb02197abed477867dcc2fcb1ac49a9a43ff498
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_274/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.054",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.556,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2740/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c627a0ec1d6383df895fbb4e9bd31153759c575f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2740/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2741/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dec14aefc7dcaddbe66dd226174a25035d7affa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2741/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2742/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c98efa099d464068b04dd4c8c65bf1d3de2cca38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2742/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2743/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f0d4a51daf78660304823594d52aba32c263004
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2743/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2744/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bf63452b7f16c8cd82c165dadbb275fbcc120a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2744/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.068,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.068_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2745/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..189141f71123d98d0cfdb4e36b16d2f3c959df38
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2745/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.058,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.058_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2746/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0510bd3172ed8db7393e28cda4aa49c0cd03284
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2746/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.068,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.068_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2747/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23225377efb820f859ffb790540ffb181dc158c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2747/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2748/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d2e001a428a6cac5d1379922b08465e139733f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2748/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.0_0.0_0.0_MultiDynamics_4_0.610_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2749/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d25ccdd547f6ed3c79b32ec934fe2efb338966
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2749/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_275/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b9e0964b9e255314dbb640bbbe4119c7941bf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_275/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.060",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.493,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2750/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32628a8cb55b09deb3f3bdff4092b71b4799b4e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2750/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.064,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.064_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2751/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30751c519523f533ecbf55670450130d2070ea39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2751/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2752/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c814bfc01c071d0e03341a77a5bb85fd262631ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2752/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.064,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.064_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2753/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2433cf895d400c2c46f0dd98f12fce24b1acaedc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2753/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2754/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d19f7022ba4faf4b1f2b54aebbc45f14510c8ea3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2754/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2755/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb5ef48554af39d0b9a81163e0146b84e47aab5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2755/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.070,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.070_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2756/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c697daa5afc25a3938cb59e929ad304ab8d18b55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2756/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.056,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.056_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2757/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed16e2de7cd020cb0316ee1e96dd636b1fe201f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2757/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.052,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.052_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2758/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fa6c5855a4fba1850c77e8e85d385b00964c606
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2758/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2759/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31db2a66c9e9ed5715a6b8b29d7fae8f4905e61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2759/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_276/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cafbe22edee1526e282edab94e6e58eb5d2159e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_276/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.066",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.569,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2760/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0805391c97be169258413442190571b0d4e7e854
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2760/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.050,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.050_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2761/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d743aed00774617c6e572d27cc87ad80da029e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2761/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2762/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec916cd2781045c7ca0810c3ecf82f18f5b4af2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2762/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.058,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.058_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2763/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..230124580eaa7c72e75d5bc5f59cbe02d8ae3be0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2763/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.052,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.052_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2764/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06cda347ba2d4954ba147a56297553007d629159
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2764/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.050_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2765/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c002b2866a5a692701e675eb9488879263654df0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2765/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.058,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.058_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2766/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ca8d265513bcb36ca5abf8fb0e089a8e02c0a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2766/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2767/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58da33f58268b701e93d2a5943ee81c89a546c4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2767/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.1_0.0_0.0_MultiDynamics_5_0.508_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2768/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2cfb2d4ccd404b3db01d4b8d393f34eb1cc486
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2768/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.054,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.054_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2769/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a296c585567ed0cbc7d5ec121d98fa3a09b7a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2769/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.070,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.552_0.070_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_277/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2803a0e09fddf675164c24f912dd1e1115b463
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_277/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.064",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.516,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2770/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22176c8f0930b0173553c4b74620998588dcf3d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2770/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2771/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..313f6bd4531ed1e03309d2fa5d874de13d60f11f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2771/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2772/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a56b0a7d2e5fe86a39b9f85116669e5a70bf72
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2772/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2773/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20fe84099c472005298b084b1d28a594e08195b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2773/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2774/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10dea1fd28a1519c9802293815e2f21ae4b52dde
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2774/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.050,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.050_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2775/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df064beb4072551cea461d3ee8284df34f359507
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2775/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.060,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.060_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2776/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c67ac4a161391c87607f61fb9f4bea568e21a371
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2776/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.056_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2777/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87e824042a98438647b45dd91a15ecbd6adb730
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2777/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2778/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc262de90ec59251bb8eb056e21b1223cb8aeae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2778/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.070,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.070_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2779/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..715b2bc96a1e75aa820a4fd83e77dcbfdc408d39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2779/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.068,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.068_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_278/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24328b836a6da95b5c57c2a57b18ff58f5526006
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_278/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.054",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.527,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2780/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3976eb41eabfb808b15ee0b165ff97fc2e0cc7b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2780/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.050,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.050_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2781/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a6850532e8dbbd8d26bb21c6e2ee4a38a1337f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2781/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2782/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92a373a1ab7cfa9946fadf0a145d6a88c585ba6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2782/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.050,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.050_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2783/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1b201e9784f95b8d3fc5c53bbcf5eab59f4c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2783/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2784/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..553b507f223da96c9c4dd35c3752f80d62456a2c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2784/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2785/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b5c3245cd40cf335140e480e7da5fbc88d8425
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2785/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.052,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.2_0.0_0.0_MultiDynamics_5_0.536_0.052_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2786/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d21bf2979c5e55b97a2d7bb7743bb1cbf94f1fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2786/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2787/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6c5009c7f72287562bc72e33f3a52f61e503046
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2787/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2788/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09157022d60dc58664845b003817d1796733188
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2788/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.064,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.064_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2789/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7182eaeae91e21e0ecdaf89da1ef2f8ebff17f06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2789/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_279/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa84264b65be52eea973f0b81a12f5b4421ffc3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_279/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.052",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.569,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2790/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1858ce9e11980b3348b9de6913f2b56fc9f6fbb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2790/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2791/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d38d78ceaf84088d8d014562e87d0e61b1e159
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2791/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.060,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.060_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2792/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2697e553e1659a99c37ff84af610a7e7d66af530
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2792/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2793/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7676f9902a450d82cc83fb7b5891bb6da01fd120
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2793/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.060,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.060_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2794/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05bb244db21f22a05c9045be04ca0456df5285cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2794/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2795/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d3ccc98195493b17a207dc6e3060c69d81c0f03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2795/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2796/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd17db743bb807d8899031c93e07f9a25fdfece
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2796/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.1_0.0_0.0_MultiDynamics_3_0.510_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2797/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80ecb1c0b5e5d8ca9b1e6d569659c579a4ec6f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2797/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.070_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2798/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46930284d136f66e357dabf7667d2c9f5c6231cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2798/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.054,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.054_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2799/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db53753a9e93dae6bb7ce5ce1b68d5c2ba409bca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2799/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_28/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_28/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccf6d58a4081c230cbf7e70a61bc36f4bd238e3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_28/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.068",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.54,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_280/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f56a4b8613c2235d860ac2cb902dc67a9f01666
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_280/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.066",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.57,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2800/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cbbdc840cfb976248149047bccb25feaa92a7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2800/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.058,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.058_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2801/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c474574085eeaeed201741af3cfdef5d6b6bb28e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2801/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.052,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.052_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2802/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e495e38f11f0efc3d7724c2de6be8437ee87490
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2802/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.052,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.052_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2803/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e5e5089db60ac2e5a134e1d1263516bd173c7bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2803/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.058,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.058_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2804/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a04250819f74a2b16700a4510d8b81028c65a5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2804/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.060,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.060_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2805/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5fc9eeca251bb1565fec3c50220be46f679bef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2805/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.056,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.056_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2806/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..358b69314d4d1e7feced75de92667f0f95951747
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2806/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2807/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5af35d64c0fe18279adc4ea2cc2bf673340ebf69
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2807/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.058_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2808/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1751fd79ea4d73adceaa5756e63064ccd0c36d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2808/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.068,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.068_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2809/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9931aed3ecede6e2779ab5c4c3f14c9558080730
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2809/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_281/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb0403e2d4a9b6dba86ebe997e48d2316c5e78e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_281/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.070",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.616,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2810/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5cf3af8ec9d813f91cf19a093be954ce67c1ca5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2810/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.068,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.068_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2811/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fad6250ad687b3421348a5effa03910fcbaf0c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2811/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.588_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2812/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83456bc831c23a8f6314cbf5aa8bcba0c58550ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2812/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.056,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.056_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2813/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d774bfe2fca8a31fb857958f21baf3ec6a720443
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2813/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.056,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.056_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2814/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f1f31c604782a2c740b30852545f3381f09e9b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2814/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.056,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.056_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2815/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..342548b4c409c0128b03c99143f6cf79714a2195
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2815/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2816/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..519446af9b7a11abfb72654771833107fca18b75
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2816/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.066,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.066_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2817/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5443c99a4c643f8f5f2d72b8f66d8c7ea792fe00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2817/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.064,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.064_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2818/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..328f0a599d56173bf19e5008cf35b6c0de9fdf11
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2818/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.064,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.064_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2819/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e4b8ec38850a89c240eed731a7364e75e2dd68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2819/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.052,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.052_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_282/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7d9ac7590964e1cba96164f44f1b5869f5f0e3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_282/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2820/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b7e2ae65a7bce43acf9fd64046b6fd901b3738
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2820/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.052_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2821/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f345342b2c228dc85bde3cd5223f13a90095bbe5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2821/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.050_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2822/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdbef8e823b37eb9decbecf3f11ea71ec9340260
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2822/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.050,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.050_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2823/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa1d17039bd4ed5051095461b9da2449c79f437
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2823/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.054,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.054_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2824/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..439cfd989fcb83f1175fe80e50d22e9e36ec7be6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2824/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.050,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.050_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2825/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d20c8daa61dd701703340bfae5d31111b404d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2825/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.054,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.054_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2826/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..237e3370d7375c67bea00e0a4640f2b0e154538b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2826/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2827/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed506d19c95b540e3f71b8ecbf12a6fef54def69
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2827/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.070,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.070_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2828/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f88d5b616e77c8b4c3ba7b678bbeefe3e269277
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2828/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2829/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e572a561f08064109387754be87dabf80022de97
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2829/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_283/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d28700a3748f77163f5cec54fa72d346ca28922
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_283/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.060",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.596,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2830/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3a8de1461cc3d1cd58fd4b511ebd547d9f337c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2830/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.070,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.070_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2831/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efa6665db7073585b8e427e4b0e9c5838382fd2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2831/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2832/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ad89d1552ec65e0564f745e31b0c96196028c1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2832/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.068,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.068_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2833/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c9124d6ccb191763b76f905471a49a566bb25e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2833/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2834/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62892aed5b41c97d06a8acd1d014681aeb766deb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2834/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2835/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4da8157c2d28acaab5d080cc7c60bf4152b5c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2835/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2836/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f25d3098d2d1d05cd8890ad1cbbed50b907ad434
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2836/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2837/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..596ba63617ffb4274717e74226c6dd0a18d952ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2837/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2838/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2128510b8f7a93ed82e5130d676fe5760fb29b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2838/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2839/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a5b92e010245d4b87c795ee3b1c0f96bb9752b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2839/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.056,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.056_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_284/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c91f0b305ac47331f7ee302dd6a858ec533369
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_284/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.53,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2840/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..774c17ad8ef96846fd24616043fff5c2636a2de2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2840/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.052,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.052_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2841/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b531eb3d6816751f62976ce228ac9f3f87cfc6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2841/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.070,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.070_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2842/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af27a79b338b7532cb6e6fff13f4e37a7a04672
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2842/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.064,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.064_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2843/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abbeef19056d36a6cf5b74cf12f056f5561be2b5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2843/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.068,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.068_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2844/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a499c6740e11c90bbf90bcd1ef7399a97794b048
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2844/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.066,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.7_0.0_0.0_MultiDynamics_6_0.530_0.066_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2845/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa9ae2ce291f5ed72be4083bf45084e75173386
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2845/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2846/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7d9dabb1f9f584f193271734894be3d864caec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2846/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.066,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.066_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2847/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d22c8a61331883b512566fd7a8706a12447980
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2847/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2848/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6791a3189d3b97b226e2289267b2a4a4f12787c9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2848/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2849/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c48d2a3ad2788f285c1ce48f8b13afde9c2eb14b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2849/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_285/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..925f0afec8659c0807c00dd44ce62dd847a9447b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_285/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2850/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ecf81cc903e0e8d429ea760a3ad3479ed38cfc5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2850/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.052,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.052_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2851/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db2c635ee1754af561b7f3110abc6c5a818f5cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2851/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.056,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.056_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2852/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a3c7e04877ccb24dc5cf86d8408fcd663ea124
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2852/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.054,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.054_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2853/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a147696238472ab0ef41a87390cd77f50a22ffd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2853/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.064_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2854/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a825d3b51885ce3304e7968c1d26930538e036b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2854/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.070,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.070_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2855/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..602b9d2a7663e480289fd36def76896611589e46
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2855/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2856/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..190f39641aae8339dc476ca16eebe50fbd2e8b98
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2856/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2857/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36fff4affcda6189132e00e8422ba90a02ffc77a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2857/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2858/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbe7e1805feb69e0539e50144a081bd6d75cbae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2858/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2859/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66ab96ebf0a35bc27e5d88e8a37d83d1ee84f201
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2859/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.054,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.054_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_286/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0e08b37cd1c8ab8b32256cd7d1f069170057e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_286/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.060",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.62,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2860/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1630b7bf6cf737586e096f1247cfbf9aeb67c0b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2860/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2861/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a563a5fed6ee97e9f09d9f2af88a5d124e486b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2861/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2862/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fba7d58fee130c6ac20b07fa231a69efe551ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2862/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.054,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.3_0.0_0.0_MultiDynamics_2_0.350_0.054_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2863/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6e2079fb1c56d99719e335dbdb706c176be921
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2863/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.064,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.064_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2864/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15a077f0993e3a111deaf75b5ce5f4601cf50083
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2864/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.060,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.060_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2865/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eaeb0212643eefa332eff19ad11cb2b2e35f7d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2865/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2866/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec96e57558f9307695d0686435baf89f18f56c28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2866/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.054,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.054_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2867/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af31879104453c83453182ba1c477e7db62c2380
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2867/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2868/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b3dbad96b0c39e1cb714d3022d39231a29fb64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2868/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2869/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96aecc64cc6fa8503271e30448faf7927a0997fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2869/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.070,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.070_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_287/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01118f2255cda546e5a3f003b459421c91bd54e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_287/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.056",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.547,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2870/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbbd750c1c75f733a51c6240b16f9d10ccb9e99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2870/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.064,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.064_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2871/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e68f16320252e9a3ac166a1cafaddf983fd28675
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2871/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.060,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.060_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2872/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba33ec30aeec74d54fad4956fbbb93b8f79ea5f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2872/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.0_0.0_0.0_MultiDynamics_3_0.477_0.052_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2873/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e7a6be4e35c959957408b2cfa584fb13f89564
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2873/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2874/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ce205f1c94bb930ea81fb1833c63de7a58116f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2874/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2875/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f04b7eb7f586a68625f7738541468121c15043e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2875/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.402_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2876/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d616c9593c7a2f7215e4a5354475101e1e9d59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2876/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2877/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d3316b8c1c4367770098be574ef8b190a5cbd12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2877/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2878/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca9a46c6996e8ce16752133bebdc32976051380
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2878/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2879/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6deebfc3ba9a8e342bbbc636819dd7c0b5c057
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2879/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_288/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86bc5ce1a03017fb027e86956fb1f30f134a83ef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_288/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.050",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.554,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2880/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ebe0773c27af857ffddc118b6072b7e3f800a7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2880/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.068,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.068_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2881/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dec6eaccf1b23a6de75c9560343a50708b47aa3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2881/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2882/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c0a6701ce41bf70ad79ce7baac175a65977cb31
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2882/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.7_0.0_0.0_MultiDynamics_6_0.530_0.068_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2883/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c38e4a283ed942ebebcf4c187f2ae98eee3aabf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2883/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.066,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.066_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2884/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee26d447a973cb500bacb4f5d6c6bd7178344e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2884/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.066,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.066_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2885/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aaaa3ba15789954da1f99a2f886a7bd5d761ead
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2885/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.052,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.052_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2886/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a64a684b782dec4a1d68c8b18fa5db629d7ffe6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2886/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2887/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c20a709e603a3cd266fc83f9aed917920743655f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2887/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.058_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2888/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e252dfa1a200fc5887c9c1036006c2d60dc21f55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2888/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.066_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2889/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3560a12e2543648e79ceef67de98f9610849bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2889/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.068,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.068_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_289/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede931852f45856ea1e3d27737334873ac83f4d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_289/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.056",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.593,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.7_0.0_0.0_MultiDynamics_3_0.593_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2890/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0069b7207b4b5f0fcfd68b178d4ba8268638c10
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2890/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2891/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3db11fca11e518c104893c673078b39264556d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2891/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.054,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.9_0.0_0.0_MultiDynamics_6_0.560_0.054_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2892/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e7047f4127ca93741b8204355d1c8fce94f0d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2892/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.070,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.070_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2893/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb618464e9ea71350c0e4ed5f320fd3576a2455
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2893/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.058,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.058_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2894/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23680872bd3c3bebc7d13856b8d4d5b2197b86db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2894/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2895/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c763358ae8c25b7772793390fae7e00802d82873
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2895/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.0_0.0_0.0_MultiDynamics_1_0.402_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2896/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d02c561f6d50e410e8a8ec7ed7cd232cb47a4dac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2896/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2897/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..702bccd03e0088ee1f8e6e29fcf29e5eaf1a6168
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2897/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.050_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2898/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd7f772d45a0c9cade7b7454100e64008ea4950
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2898/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.052,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.052_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2899/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4607c972e4b34cb3276ff4d284c63a0e452c3c1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2899/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_29/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_29/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c1440844332c8fe016a98add05c781361c39b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_29/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.052",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.563,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_290/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05bf19cded4420a3fd499d55392accb272b0aaf2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_290/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.050",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.56,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2900/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6951444732ae7ca4b36a47dc14be4a4a3b45855c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2900/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.058,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.058_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2901/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d01e74dafabf11131031d29e187d3321afc3377
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2901/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2902/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e37199137e92fc8917baf9e95f4c809f8781d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2902/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.066,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.066_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2903/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2d72d523e2fb1950e4b4d6cf7d8052abd992dc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2903/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2904/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ef9b727a4bd03fb0d8acfce661dbcf2e3daf17
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2904/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.054,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.054_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2905/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cdaa23a3317627677d5c004267482d4e435947
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2905/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.050,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.050_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2906/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2d9f8a014e568f037b611c77770b5746acfc5f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2906/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.056_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2907/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3cf4bbd4712ffa076f44a637a93957a174c73a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2907/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.056,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.056_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2908/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb41a590c2d26f5b5c17427ba0aa995543faa2a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2908/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.068,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.068_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2909/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d34404e25a7ab6e7501a892d37efa729fa7f21
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2909/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.064,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.064_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_291/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41fd41167633c18cb107f7229e6d95380e212ce5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_291/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.066",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.547,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.2_0.0_0.0_MultiDynamics_6_0.547_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2910/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..011506767860bb517162709b5c3ba45c9e3ee8a3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2910/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2911/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e027f566d62a5654fe5504ed202ece442fc7063
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2911/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.054_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2912/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32dba8caf87bb56344b7905147166cf4776e19d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2912/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.060,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.060_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2913/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a31df52e89accb1cbd046fd735cb5b73921031be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2913/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.060,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.060_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2914/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6893e4f54ee6aafcfd692b84f3519a113c51ccce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2914/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.066,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.6_0.0_0.0_MultiDynamics_5_0.614_0.066_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2915/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a23a0563db4a957888171346e120501c0dbe964
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2915/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.068,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.068_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2916/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b88c19c642547354e09588ddb3bb0624967ae4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2916/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.060_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2917/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4aa100f761c4461f5ea85d6e1aa617b31359a49
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2917/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.050,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.050_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2918/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e79ad04ccf92a01ca73b7aaf5bfb65eac9d9bc7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2918/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.054,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.054_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2919/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb5dad75b60f2942bd6715cd7dd6f34053fc7e6b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2919/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_292/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..436146b98ac515b4601463d961c567c14a369fa5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_292/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.068",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.56,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2920/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c749bafcb46d49a8683b30547ca7dc27ebc11143
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2920/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.052,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.052_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2921/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5114e24bd0271e80cea861e5c9c861366ad30f44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2921/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.066,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.066_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2922/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bdac421e728de5cc20587c9ad58cdcbf655390c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2922/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2923/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6617bc0f5363ae5128248207293dd126a1af93
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2923/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.058,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.058_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2924/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..199910715e9b8fecc9c4b934204cd9d7205238c2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2924/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2925/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e78cee55958d213908545e37f336b3986db7b1d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2925/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.066,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.066_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2926/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d073e2266157bf3ec0b8722f8e89b9539406a9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2926/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.050,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.050_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2927/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b697822f774dc24f615499e00bf192a5a84b6f2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2927/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2928/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c480777e3511bc56fb076b231b555ceea3249663
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2928/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.052,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.052_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2929/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55b4a6fc7c6a7362dfacbfa2f9b4ec9abf3114b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2929/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.070,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.8_0.0_0.0_MultiDynamics_2_0.630_0.070_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_293/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..191bc8c20fa523f27c814e1d4a66f7f3596ff89e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_293/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.054",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.54,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.0_0.0_0.0_MultiDynamics_2_0.540_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2930/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d482b9dd7912c489126ca19d118c49b2321b87
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2930/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.7_0.0_0.0_MultiDynamics_6_0.530_0.070_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2931/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0956c70c8f5c5a3dc16c57caef6595d7da438440
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2931/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.058,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.058_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2932/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa3a5d4aab4e04714061868382eb4841cb5adf4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2932/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2933/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faea157f50829f8ec66c0483c24fed2c94ff558e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2933/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.056,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.056_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2934/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3310b13155bb85812915d15a5c6ccb9b359c61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2934/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.068_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2935/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..853bc9d21bc0ca5affe9ece298985d070e20439f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2935/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.050,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.050_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2936/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0777a6236218c848bde49ab04b783a925aac04df
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2936/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.050,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.050_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2937/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5408f064e1b8fd1b8227117f9ea4f896160a3ac0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2937/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.068,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.068_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2938/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a452f75a56b211ab67c0bfb6c7c13447d0bc36
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2938/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.052,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.052_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2939/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d994125763c1d43fb3a486ee660b98b85bf7e095
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2939/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.066,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.066_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_294/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd134a89d439c82dc19f74af8798182f40ba822d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_294/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.064",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.545,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2940/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f26f091feb44a0e90583cd9cf32d16228be08a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2940/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2941/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec4e1da3db8fd4d6612d79da0ced670a6d36b5f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2941/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.068_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2942/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be99418fc064ae02e5830d327a105745b81ad670
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2942/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.066,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.9_0.0_0.0_MultiDynamics_4_0.585_0.066_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2943/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9cf69a0c86c6d0d4e3a069155ab2aa4b542224
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2943/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_4.0_0.0_0.0_MultiDynamics_6_0.580_0.068_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2944/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3319f9ea706e9490c8355f3e1cd676a7e3f8cd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2944/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2945/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14e819b55423b60a3fe32bc181f1d99312742c80
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2945/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.052,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.7_0.0_0.0_MultiDynamics_2_0.580_0.052_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2946/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a091bc504eee82ed42a776f857a2735513bc9a50
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2946/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.058,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.058_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2947/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63401746ac15b3e0525c342da634861abe31fccf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2947/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.066,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.066_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2948/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..601737167d45a9bbc770139c20bf848c8fec02ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2948/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.058,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.058_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2949/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a947ec0413d5db8b57e7c9242f3103514302e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2949/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_295/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe269363d69db325fbbd1fe14b404d1f8388f2b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_295/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.060",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.545,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2950/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42fbcbbdca5283b84af232401c2f580b33e77b4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2950/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.070_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2951/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace5c7d0e6ad460c4d524be0b52cdf430ab7fe40
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2951/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.070,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.070_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2952/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8955a16b0400f41afc99d6b23486e14a93f536
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2952/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.058,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.058_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2953/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24a11b80efa7086b826e3ccaba497d1cc75b51a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2953/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.050,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.050_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2954/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c423a26ca787ac3f4db792f0e231eaa5176f3d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2954/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.066,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.066_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2955/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc6bff5f9e6ba697341c41f6e6ebd07e55b2520
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2955/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2956/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2884b245f74b2680324885eb55539e18d92c17
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2956/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.064,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.064_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2957/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e57b88b8924851f42a6632b50e44ecea139376
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2957/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.070,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.070_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2958/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b6ebfc98407dc75d552744471ab8f541f22431
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2958/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.050,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.050_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2959/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c17e3754daf007cf5d848070aa5f8617b265c18
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2959/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.064,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.4_0.0_0.0_MultiDynamics_2_0.401_0.064_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_296/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c79af44bdc297a900b7456c96a60c49aa7d566
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_296/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.056",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.576,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2960/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5dbe2d9f8a76b08e572c08369476532e658524
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2960/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.058,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.058_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2961/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..772461e7c94081369915cc23c075ffd37c8cf977
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2961/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2962/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d317183d3d02c24b2342df474753b7884c8a21
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2962/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2963/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95504537bc7df74fdd77fe5786264c709d1999ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2963/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.050,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.050_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2964/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9d3d07b1676ed8de02fd1542d858989dec0735
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2964/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2965/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77baebb5031f60965c1b48513c61ea99849b197e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2965/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.066,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.5_0.0_0.0_MultiDynamics_2_0.480_0.066_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2966/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a7dce06e25bf8401f92061775d46b91274ad937
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2966/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.050_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2967/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afe3769bb8da76d49c92b410afe843e70d4f0f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2967/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.536_0.054_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2968/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b84f3d22411bb83aa7ca5e28594333e360eda7f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2968/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.054,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.0_0.0_0.0_MultiDynamics_1_0.402_0.054_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2969/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e58901738908228593053cacf55294438751d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2969/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.060,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.060_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_297/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f8e2d899c54dbf683bfb7e625dcdf98f2e0ea7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_297/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.477,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2970/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d17b78cd527e385fe7cb0e621c85cf775735516
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2970/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.056,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.056_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2971/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a1dc757b9db43191a05f9a5cc6c6af597e2de1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2971/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.060,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.060_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2972/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc7ad16a33334f5cbd7ad96f5c05dfae15980554
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2972/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.1_0.0_0.0_MultiDynamics_5_0.508_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2973/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73aa39fc547186cdd65104574b365577ef3d549c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2973/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.052,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.2_0.0_0.0_MultiDynamics_1_0.695_0.052_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2974/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..726f997505ca34e62ec6b294fccd34d29761129e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2974/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.052,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.3_0.0_0.0_MultiDynamics_2_0.350_0.052_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2975/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d34693359b6569145bb3a1c36982bba99bcb8c65
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2975/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.066_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2976/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92eadfbb3311d94015bf4360ecb6258ad9e6e281
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2976/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.068,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.068_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2977/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9440741723b63bbd66d73f2e273456842f5bb26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2977/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.058,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.058_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2978/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe1a15d4d6cbbe6b2825c9e7b4ccbbdbf9d5bb2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2978/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.068,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.585_0.068_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2979/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07047643137e27f01598d8746757537fd597f3b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2979/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.1_0.0_0.0_MultiDynamics_1_0.570_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_298/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba29ad8d4ea41692ffa5ce723e9485e3c849ca9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_298/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.477,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.477_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2980/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3348a1155ddd4833718406168411ead79311a966
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2980/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.064,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.064_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2981/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52684eb1bd4c9164255e46dc028e81396cf168f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2981/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.058,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.058_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2982/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e649a08a6b234a6c7bdd2c230a9d62a5e4d6488
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2982/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.066,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.066_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2983/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d33179e045b68e8bbbc5e1d3d387a9b786bb4dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2983/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.050,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.050_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2984/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c7b2a42107de9764cf5f8c3c42bc83a4e7660b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2984/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.064,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.064_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2985/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7af6bae0290eab7a36a463ce2674d7f5adc8d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2985/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.068,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.5_0.0_0.0_MultiDynamics_4_0.490_0.068_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2986/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b0d566129fcf98f03669c3a9872a7618e685647
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2986/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.058,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.058_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2987/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e012b05267f5e6691b74d3b625a93df7f96fa934
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2987/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.054,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.054_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2988/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62df30349af962af0eae7086c863c5fbb78c3345
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2988/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.056,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.056_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2989/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d045d563cc5dc0a96540eb2d56fb5266abbc6f6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2989/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.066,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.066_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_299/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..642db0648d308239793dc5d35ebcae65ab6379b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_299/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.056",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.62,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2990/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea663dd532420ed3954669b3cfafa874501fe7dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2990/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.064,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.064_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2991/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1697501db4ea0fbadd29f58141d116cfe9aa5030
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2991/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.060,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.060_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2992/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5443ed26ffa86f47ccf4594e33cbe823c4c7cbe9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2992/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.060,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.060_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2993/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c2682b45b56f51cebaeaa6032441986babdc9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2993/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.056_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2994/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ed500fb6f3c08d31e16ffefdda51d48d333a4d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2994/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.070,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.070_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2995/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5428cced79bd1e3b0016a1c526fc57dc9ad89329
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2995/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.064,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_2.8_0.0_0.0_MultiDynamics_4_0.560_0.064_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2996/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3fed784be6479a305af773458993b3cb176abf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2996/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.056,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_1.6_0.0_0.0_MultiDynamics_2_0.530_0.056_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2997/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..336e18fa4999b2f202c4195923e4f6e65c3b06d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2997/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/brown_3.7_0.0_0.0_MultiDynamics_6_0.530_0.064_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2998/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..181134a375ac465fd40743fd6f6f95d5e1be2b5a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2998/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.054,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.054_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_2999/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4098301e64333ab8d991d23530c5d1b3abe21e87
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_2999/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.066_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_3/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_3/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac4aa3686dc1516f229df84780ee146a97f5894
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_3/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.052",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.563,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_30/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_30/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db474cea5d99358d9d192c58a0b07e118043e808
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_30/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.060",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.59,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_300/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9fd36ffe0bda9e7ef1c3422713d4b08439cb42b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_300/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.064",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.593,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_301/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e430e7d352f3a39e063e7556595f09d7775dbfe4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_301/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.050",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.554,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_302/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb892e604c6e66daaf861af0b6b043e6c8a46bc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_302/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.477,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_303/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0256921a5962443a542bb78ad8a986947ba7a121
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_303/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.052",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.427,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.2_0.0_0.0_MultiDynamics_3_0.427_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_304/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e84d6ec263935610451af95dadc242ee691b9f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_304/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.068",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.545,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_305/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54948e99430b67baff54b06f9014f2f0f86c25f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_305/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.054",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.576,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_306/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b2fd335b3c3bb8974dfe6bc09f8a950c98615c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_306/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.536,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_307/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..917377e1416f61add27855a74a385f3e9daf9bbe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_307/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.066",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.62,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_308/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b766053ed15e14d9a6dd3c9bc08b4c8514158097
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_308/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.050",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.569,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_309/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14e04a7a0d51168134f9154d4cd0082b9193e60f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_309/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.064",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.62,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_31/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_31/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d89b29f18f33d8af8f4579e18f2f10c093c14e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_31/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.066",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.576,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_310/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e172078596f532f16aac6b7688a001eb8c8298
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_310/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.058",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.595,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.3_0.0_0.0_MultiDynamics_4_0.595_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_311/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c6c0650234922eac2fc1e08e0dbc5351a6d92d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_311/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.066",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.527,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_312/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a3b13cadb380755f6072d263872a1cef75451cd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_312/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_313/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0442a112ce18c66064acc758c0a64b0a68dd717b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_313/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.066",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.493,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_314/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..620b599fdac7506c0d9e1df1fd5b833d1205747f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_314/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.477,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_315/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb19f3bc3c36389b7af63fe261e9afd56e5f9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_315/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.054",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_316/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecccdd291912dbc31fa8f3857bbc53bf42c5b150
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_316/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.066",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.547,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_317/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f83f13cf67bffc74815935f5651613ed366b4e3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_317/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.068",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.59,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_318/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee3c0a4e8ddd427e97865da5ff2582e916f1901
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_318/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.058",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.56,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_319/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd7be6de2ff94dab0dc2ae2ee5e928ee70be711
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_319/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_32/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_32/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f16b096c24b382b738e780d2262204670e0027a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_32/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.052",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.556,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.7_0.0_0.0_MultiDynamics_5_0.556_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_320/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b52b4974343d2862806c80bd8f569d7999c94444
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_320/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.050",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.56,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_321/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab7261881bd9600b12bbfc78093bb050a826a95
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_321/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.050",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.595,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_322/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee877f67b0d12a3494373dd7a8fdd543c1546c55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_322/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.070",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.495,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_323/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f55d10cc9a839b09d682ff47f26e6f6df9f25f1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_323/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.050",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.563,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_324/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b95e0c23fb93170af70cfd04618669b1253d654
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_324/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.477,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_325/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cebd1aaa9c4a74113cc4dfec841a18307b9e335
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_325/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.058",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.427,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.2_0.0_0.0_MultiDynamics_3_0.427_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_326/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fab5315aad6b840e9e15ea895d7edd8a5af791e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_326/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.054",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.59,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_327/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc795a5de8259bd29d0b2eb0faf4248d4a877db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_327/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.060",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.556,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_328/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a87a63d99687ea17556c7805775556ecac4e54bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_328/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.060",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.56,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_329/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af223b62dc6f22aa00a3f2e9a22d61fcec3e23e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_329/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.052",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.56,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_33/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_33/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca741a7a5988eed21f17de1ee9bd53123f1e7bc5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_33/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.056",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.616,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.0_0.0_0.0_MultiDynamics_5_0.616_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_330/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48405c31961d75a7d16c768cf3cca6c1bfdfaac4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_330/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.066",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.62,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_331/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d54aada73f4b0d82fda674c551877b609fa236
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_331/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.050",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.57,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_332/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..450c13b4fa15f37668e50274c2cec16401d1c32b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_332/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.060",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.495,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_333/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c53615ec84c8c8ccfdb978f3f38f5ea48fe3ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_333/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.068",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.595,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_334/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77826dcec6df79d3e105851c3820caa3b2efff8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_334/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.052",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.57,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_335/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18703acf6304cb3a1347915f6cb3bbd6e1c88e7a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_335/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.060",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.627,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.8_0.0_0.0_MultiDynamics_3_0.627_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_336/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92143eb718b3d6a8daf5bb7a453581e69cb1e2e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_336/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.53,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_337/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6f6fb1182a4970519e7e9f387abebd0a684d48
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_337/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.070",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.427,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_338/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99765b03f870b4e7f90cdfc672172eb24118c737
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_338/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.058",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.59,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_339/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb9807e298c5d27ffa8c8ed2f62d940991168e6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_339/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.066",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.57,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_34/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_34/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6acab4e103a5431df49687866092b713eabaee6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_34/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.058",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.563,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_340/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb156552c657d389836cb1946f427c70120d389
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_340/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.056",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.616,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_341/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd25712aba0d970f1631daefa35cd87ff934b1c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_341/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.477,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_342/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a7c6b54b31205103ac7657f4f02d80e4fabdb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_342/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.052",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.52,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_343/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c0c9020a471038cff4de185711e08ac1a4e668
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_343/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_344/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d496fb04db2f53bc923b2f66421122c9dc58f39f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_344/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.056",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.569,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_345/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b38e1c40eb0af59f133e538c845f83bbc0e7e20
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_345/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.060",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.576,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_346/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa50483f5b93d32bc7a7a0bbbc50d8a34200897e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_346/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.052",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.54,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_347/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d9ba672152789c9bff0d42fb5e7b7446bb5436
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_347/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_348/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63ba8c460bbd633180376040e740e3d37f19179
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_348/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.052",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.54,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_349/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe69ae579d2e3ccd8bc98b2227fbbd4a565bf03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_349/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.052",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.57,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_35/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_35/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..580611a94f1682fe86bcd9638ac7c5a972610c95
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_35/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.052",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.576,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.8_0.0_0.0_MultiDynamics_5_0.576_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_350/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..905ad863c58a49c58afb514127ab6689054a4014
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_350/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.050",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.516,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_351/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73533790edb335c538b1d455cca3257843c92122
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_351/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_352/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2852653b5bd7d6f84460b083e3adb165c090a66d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_352/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.066",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.477,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_353/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19bb86b9761280414791ae6dc4ef4788464e34a2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_353/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.058",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_354/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b09be3fbb7ca2bbc771087bbe1f27066e7562948
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_354/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.058",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.556,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.7_0.0_0.0_MultiDynamics_5_0.556_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_355/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d44a737d33e3b7098dd0b85d9ca2d2406b4b1383
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_355/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.052",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.547,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_356/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90653731857d4be3a10623e4a91b9fa539217278
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_356/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.536,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_357/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06572b6f0625279d08c1907636f14789bbf60885
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_357/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.070",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.547,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_358/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c919f5ef0149b14341a1fad67b2c86d5ea6c59b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_358/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.052",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.54,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.0_0.0_0.0_MultiDynamics_2_0.540_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_359/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df36ad495df4850a64d39c2b8e869d3cb0d76904
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_359/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.050",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_36/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_36/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5144fda4b90d92fa4a63c2a7fc6e91b7ead983b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_36/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.536,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_360/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2287b71fbed8ad49c2f9cc7a4726b245d48b91cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_360/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.068",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.493,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_361/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..005acabca447f9ad56f82fa89a19811601479867
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_361/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.066",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.563,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_362/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b78791a07a79db50f23de9372bbb92421172f06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_362/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.050",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.52,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_363/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ce6475f3aa6e0bca6ab3217800c3eff7e78f026
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_363/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.070",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.56,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_364/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..779dc2beaccae6c60f0b9bd6d012fa277b7daec9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_364/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.052",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_365/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eac4307fc91aa8f1d70d2617ad436af184c5bb9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_365/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.050",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.59,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_366/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e57d25dc65226f2c6ec79b84e8171524a4ac7ce8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_366/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.066",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.595,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_367/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1c9bee36fea77f5b171b5d1b9cd17ccb14b7296
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_367/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.064",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.547,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_368/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b40e999e55184a4b7c55e9b44714c307e0b193
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_368/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.066",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.545,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_369/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a4afaf94a2a2d9c932e8a6eca45616d61249c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_369/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.068",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.627,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.8_0.0_0.0_MultiDynamics_3_0.627_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_37/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_37/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d2aa2abc4ea68541e7d745873a75a10498d92a0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_37/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.054",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.616,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_370/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b355044dad1651242c7f3b588c2993750b467d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_370/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.058",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.554,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_371/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5552e0ea3e19862ecadf7c86aa090339c7eb374d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_371/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.066",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.576,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_372/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d97275143b68a65134aa4553c8a4061c3523e32
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_372/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.050",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.527,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_373/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee60999937b280ed70966b8d3fdd9774bce28b60
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_373/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.064",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.493,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_374/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e18223b2bfd7c1ea4b4982e1cdb284959d9992c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_374/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.050",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.545,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_375/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc387a60d9d3467ff43131cafbd6d1973de82735
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_375/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.064",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.62,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_376/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e342a27ea8e2797e48e09b2919b96667d1d1c64c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_376/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.060",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.54,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_377/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad9244f4f6f8b6b0e1b9f882a897b36b99683d81
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_377/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.068",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.427,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.2_0.0_0.0_MultiDynamics_3_0.427_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_378/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5226272d7a3d6d95e0096d02a400a677743b63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_378/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.058",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.63,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_379/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ef16dd8bd3d7ccf5a5580bbf747383a26b8716
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_379/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.058",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.62,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_38/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_38/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1475ff34534d2f2f13d6c743f354eca36234f7db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_38/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.058",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.527,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_380/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ee32953862ee0fbd69abde3e3c1b122c10f200
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_380/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.066",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.59,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_381/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5f494fb95f87fef0aac4820dd881a5d9a420d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_381/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.066",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.554,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_382/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7ac777a3a11ee34721d66fd84347e31bb502aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_382/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.070",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.597,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_383/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e1fb9bfd64a252f6c44971ef65cc0d92abd8321
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_383/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_384/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d0ad6478efc82b69ed29c7723228a40f35ca007
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_384/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.054",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.493,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_385/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e7bb8cad6818b36c245c68cd223adb3d53ab36
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_385/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.056",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.54,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_386/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2458e90ff3c0b2dd87f3f3226b7a41f17e85e324
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_386/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.060",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.493,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_387/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac5855a732f5294525b4502affb2894df04ea25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_387/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.477,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_388/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8673005493d7e7654fefd774c0a65171d6bcd61d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_388/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.054",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.63,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.7_0.0_0.0_MultiDynamics_6_0.630_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_389/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d772595398748dcbb61588c9852fe96b97009b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_389/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.058",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.547,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_39/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_39/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e06163ab059b781825302915f967468e543518ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_39/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.054",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.569,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_390/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b296041ae629ccd92fba415873774c39328afdd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_390/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.536,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.6_0.0_0.0_MultiDynamics_5_0.536_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_391/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..438ae6a8aad17360cdff020bcf60fb08aaba079a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_391/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.070",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.59,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_392/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19da488015a5ec35a4403e7500bc3c66e9b5ed37
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_392/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.068",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.527,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_393/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3115fa55243ea39085bd2aec831bc8a7f154ccc9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_393/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.068",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.62,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_394/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a155963020ff75cad065925fecc3e32d489aa9c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_394/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.068",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.556,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_395/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79fdcfe0c73d62494b71031b43c9d436b77d701
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_395/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.060",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.627,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.8_0.0_0.0_MultiDynamics_3_0.627_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_396/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a983060f692f3d66ab20a3003c3eab58a39e0ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_396/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.066",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.547,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_397/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79a1303655b2d0fcedee921454b4c042ab0a27a1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_397/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.056",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.576,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_398/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96b30198800ad5847b93e052025225247e5e9213
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_398/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.058",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.545,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_399/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ae4ab29805e15a9fbabc5be0c6689fe868293f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_399/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.050",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.516,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.5_0.0_0.0_MultiDynamics_5_0.516_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_4/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_4/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af4f416ebcafce7447de90b683339a9ef46057d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_4/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.060",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.583,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_40/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_40/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8d5d7e602c4fe7a954f3b5020a9de322b0f52d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_40/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.058",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.545,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_400/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f75d53169cb5724fa14c26ed8ec68c36ab5643
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_400/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.054",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.59,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_401/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29bc9709423b5b2311e5159d370873f0652c94bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_401/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.070",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.527,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_402/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0b2afc0071742e060b765a25b5076c1b554d81b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_402/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.070",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.616,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_403/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..704485d433b4db0700f611efb8dd814f92871a6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_403/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.052",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.62,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_404/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01bf8ebd5739764bf1aeee8b08de412c7f86357
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_404/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.054",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.495,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_405/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c907efbc283b8dfe47ac0e6e1d4365775d29033
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_405/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.53,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.1_0.0_0.0_MultiDynamics_6_0.530_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_406/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c46a6c8b82bd9753d739a389099f827a43ffdd1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_406/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.53,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_407/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3800372b95410a2f0dacc1e3e3d5272d6d51815a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_407/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.054",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.593,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_408/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f38536c5d13d562f5b155f71a293f7d35a3dfb00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_408/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.050",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.593,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_409/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58706f926d60db57163e1a5ae625a0696aa4dae5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_409/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.052",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.536,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.6_0.0_0.0_MultiDynamics_5_0.536_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_41/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_41/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7103cd731c4c37799365ffd8ef3a4163bf28f05
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_41/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.068",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.62,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_410/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1203b7f6b24a9026c3f26bd3381a77b139237ce9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_410/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.068",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.63,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.7_0.0_0.0_MultiDynamics_6_0.630_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_411/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab0570366f557472b1f5e0806a257065a205185
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_411/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.050",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.616,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_412/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..102151925442a85b592d3899b6259474253a06c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_412/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.056",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.547,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_413/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2649134c5486f2114f8e56954f7deca2d087e87f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_413/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.056",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.597,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.5_0.0_0.0_MultiDynamics_6_0.597_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_414/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4835788c207e3c40c0131f253394a4e575a2ce0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_414/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.070",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.56,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_415/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76d8ec2ef2a1402e8b4606bdac7f53da17dbdb8f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_415/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.050",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.495,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_416/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37df5fac790a674eab217c27e0d98d853b8470b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_416/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.064",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.52,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_417/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33bc1ba14a0017965fe19a02b126ac8a81215af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_417/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.054",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.62,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_418/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59082b1dd363d2be9e9e753835d2a0570464a471
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_418/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.056",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.56,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.6_0.0_0.0_MultiDynamics_3_0.560_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_419/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..902f445608a3c16543649c16bcad59d5119dc678
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_419/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.058",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.52,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_42/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_42/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b5569f5e165112718deab3e2bf45ea40a237fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_42/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.068",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_4.0_0.0_0.0_MultiDynamics_7_0.583_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_420/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..011e5adbe6e906fd410709f7bd91b008e915bc27
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_420/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.058",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.576,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_421/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3357d8c7443b10c6af7409affb9a141b1fca776
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_421/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.068",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.563,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_422/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0272d6fe801b5b41c837965d2fbe7a8033b7994c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_422/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.064",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.597,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.5_0.0_0.0_MultiDynamics_6_0.597_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_423/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de13f5f5b2034c558cdaf08b0b85e636be98ea0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_423/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.058",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.616,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_424/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d667c28852e9f85b4d04f3c7b4e68e5cb80d05bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_424/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_425/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a7378df045b92ba3412f6a1e78f4ae072f4418
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_425/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.050",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.52,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.0_0.0_0.0_MultiDynamics_4_0.520_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_426/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05935450a09d32bbaa9b2e11846c87816dd4545
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_426/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.056",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.597,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_427/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4de31a7fea84e109ba5c4fcfafb940d46f9c2135
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_427/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.054",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.527,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_428/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5dc444b2cfa2f023df49ca6113944f35f060ae6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_428/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.066",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.563,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_429/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f776e5e026d81d8c86fdaeb5e74959acf07a39
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_429/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.050",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.495,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_43/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_43/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28cfd6f837543bd347587aa7244478e835f13fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_43/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_430/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf05ceb81e462935918941279002d2a4da716567
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_430/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.066",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.56,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_431/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca55a3b977ceb62168544069e3d401eedc6d37d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_431/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.056",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.593,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_432/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a146da273a3a211c823b78782049f03891877921
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_432/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.054",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.569,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_433/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5872683957f7cec7c997fe2d53e6e28292e534d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_433/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.058",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.495,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_434/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8704895721a5006bf2bc99244b7f7c93cf07ca94
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_434/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.058",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.576,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.8_0.0_0.0_MultiDynamics_5_0.576_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_435/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ddad7682ab0ebd850cd97d6df8d97cace41028a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_435/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.064",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_436/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1838b197c22cae295407a6ccb1614f8820dc6670
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_436/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.066",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.595,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.3_0.0_0.0_MultiDynamics_4_0.595_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_437/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..379a2969fc6a1bf03a8ae25d5a80210b052f9088
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_437/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.066",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.616,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_438/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44f483667ac626e6e4e6d7e4f90aa99b20d07f5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_438/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.064",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.527,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_439/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df2880eb8d7b9f5e9af7d16480f7c039398cb59a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_439/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.052",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.547,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_44/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_44/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebfff33c1304c0d097378de853c91be5d6e7dbc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_44/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.070",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.545,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.1_0.0_0.0_MultiDynamics_4_0.545_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_440/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21e67c228440181f36e97d35a17db306f12a32ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_440/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.064",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.547,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_441/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f796884ff085367364d9e31ad22441febfb8d52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_441/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.064",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.616,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_442/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35feee9bcd4f64582a885320a4b2e0db77f5fb14
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_442/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.536,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.6_0.0_0.0_MultiDynamics_5_0.536_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_443/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3f822a863fe38c3369f56d8389be94ba5d31de0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_443/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.064",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.613,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_444/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9334571276b2753cc8cbcf77aba401ac4e97317
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_444/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.052",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.616,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_445/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6311d61cfbd695a934b6ca94e79c94c508e72160
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_445/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.052",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.593,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_446/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa062a47e53509fbf7e97a227087338b7b67f61
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_446/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.050",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.613,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_447/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae915abb11e33820dcb287d66798efe944fdac3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_447/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.052",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.595,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_448/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6bb55cd02e5e6ff03feb485e7593711fd14a1f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_448/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.060",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.547,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_449/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8002b8233b1ba68946b456dc5d1032da46a80a59
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_449/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.058",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.597,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.5_0.0_0.0_MultiDynamics_6_0.597_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_45/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_45/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7cddbb83ed9585957b2a0815f12199b152b4f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_45/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.066",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.56,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_450/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b69f68c60a1494846cce05af1bbc534414d5b68
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_450/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.054",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.613,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_451/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..289feeec469e259f9a9f509b57160ea9886fd946
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_451/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.064",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.516,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.5_0.0_0.0_MultiDynamics_5_0.516_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_452/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a57eb69fc248e4667efeeeb6805c56cced7b84
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_452/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.052",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.616,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.0_0.0_0.0_MultiDynamics_5_0.616_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_453/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3e34fb2b8d79381b7e9808eaeb825437ecb747
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_453/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.477,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_454/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2197d8f0db7b2d3e229ff4a3bffd68d3b39f3a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_454/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.070",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.563,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_455/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..084359efd50946ae00a2dde198d0951ef60002bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_455/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.477,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.477_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_456/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ca5fb0a14c104f007ab161fdc2ac33b3d63629
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_456/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.070",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.593,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_457/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c16bb5a83059bb8d38ed91af36dd37c6f5e962fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_457/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.050",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.493,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_458/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..907614fa5b81debc2ef990a398e458b84b5c1486
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_458/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.056",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.63,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.7_0.0_0.0_MultiDynamics_6_0.630_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_459/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3e45423bbe33a312b355f17cae125bba31de9e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_459/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.058",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.595,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_46/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_46/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89617f7a6a6b9bb77c156065b213ac08537c9485
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_46/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.070",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.545,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_460/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a853c25c685b740207a4acec50f43086daa3c896
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_460/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.050",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.576,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_461/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e753a5773456dd7ae02c265fc1fce3002dbe5fe8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_461/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.054",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.613,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_462/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..315a288f915df97bfcbeb2b6258725f66da6f810
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_462/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.064",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.569,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_463/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d39b246b1fd5d94a86cb4f72cbdb52b4d9d59e2d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_463/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.066",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.53,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_464/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a55a2e0890f6e1a9bccab035cfea4e6b9005887
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_464/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.054",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.576,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_465/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..004bc8b09edc17453b43cef7b5a08e225c7c74d0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_465/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.056",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.59,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_466/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c0fa91599c511c24ac60f66f80bf56bbccf3f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_466/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.068",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_467/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ab422b48f250ce4612351161ef1ff705a303b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_467/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.066",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.545,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_468/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb2ae4e27ba8c94e0e3a1962cbca92402a622f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_468/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.064",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.493,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_469/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2ea6ac0246d760ce35339f3b50af991ae75ee5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_469/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.058",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.554,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_47/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_47/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f7b44d03a950635be26c36f77f6295a7112589
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_47/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.477,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.477_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_470/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68932917c7eaa66caa42b7ab820cc9dfc9a93e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_470/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.068",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.52,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.0_0.0_0.0_MultiDynamics_4_0.520_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_471/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3ae1cd463a2560fba8e359bd064f98f9307094
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_471/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.060",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.596,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_472/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b346a61dd74ad408bfe96cc53f739c6e269125b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_472/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.050",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.62,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_473/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e6100deaed52d0105ffbaee9c807ab8f0e255
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_473/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.070",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.554,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_474/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c083d69ba9097c4632b46fa1dd3138e30d919ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_474/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.058",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.516,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_475/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aefdab34a19fc4e4b6aedce69f5016abf75a86c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_475/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.064",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_476/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd26249c9e29c658761a2de082f3ab68b1ff1fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_476/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.53,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_477/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da424b26764fb5caadba12c56f2f0243df2f33c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_477/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.066",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.596,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_478/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2271c9b8f348f4571d1e6bbcd013e7c7948d3d03
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_478/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.060",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.536,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.6_0.0_0.0_MultiDynamics_5_0.536_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_479/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3aa9844c326b635ea69774c93ab0058b838ac82
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_479/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.050",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.495,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_48/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_48/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..247413060fc44795f8c95adfedfa009d111a0afc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_48/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.050",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.63,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_480/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..220e1157bd002313ffe14ee1646de9b64d753628
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_480/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.064",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.495,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_481/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9dbb8d0fd79feaf8c60868d87e190909c46294
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_481/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.056",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.593,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_482/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2628bb3b07b15379de38a85d04f0d3bc9fd48048
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_482/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.066",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.516,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.5_0.0_0.0_MultiDynamics_5_0.516_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_483/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f8f2f47548d0fd672d4b1e81492bf36a2efd49a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_483/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.477,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_484/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..927677315e12e3d6075b48125eb7d4742c8feca3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_484/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.060",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.597,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_485/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8e83a308478624ef64fd377513d06d68cde5e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_485/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.054",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.556,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_486/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..238e3c7c4cf348b8203780adf2d3b915d4bdf868
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_486/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.536,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_487/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da74f2940e2c33b186d165183c6d64b54d9ff928
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_487/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.050",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.57,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_488/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b844fb15134b3fc8f7f5a68b95f587a081006fd2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_488/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_489/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42d9ec593560c2005a2a50d0048b917201249c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_489/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.060",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.576,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.8_0.0_0.0_MultiDynamics_5_0.576_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_49/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_49/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b294417ca1afa3d953bdae20ea44b04701e5f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_49/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.052",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.545,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_490/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2e61889bda7a6c0b4d138b6355a5fdf0935660
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_490/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.070",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.547,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_491/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b365b15e8c769312f630a06f60288a5a6d7583ed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_491/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.056",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.495,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_492/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb71de83677ecd96e52f6ccf9e9a5c14f02d20e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_492/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_493/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c6cef64aa66d3dc9fc527573a0aac8987f23af
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_493/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.066",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.563,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_494/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79b43ab473890f4cda59504074dd7b27364bbc2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_494/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.052",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.596,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_495/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..799cd1a2dca3ac1a7cc5f7b52df147606a37b1d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_495/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.054",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.627,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_496/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..760daca0597260936941c8cbbd9b9c5e79cc2da6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_496/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.050",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.613,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_497/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14558710a7d130a5dfa965c7f26cc69a6099abe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_497/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.052",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.516,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_498/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fbd75b75f2885b3fcaca997194096fa9d9857bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_498/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.066",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.495,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_499/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..570e442b98c2b20d366337678582084476c58935
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_499/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.050",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.595,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_5/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_5/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca31f76184f15ae29abddf7af66a8e0c0fed331
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_5/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.060",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.516,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.5_0.0_0.0_MultiDynamics_5_0.516_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_50/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_50/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7808e9d48295e72462d38b81259f89e801492cc6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_50/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.066",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.556,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.7_0.0_0.0_MultiDynamics_5_0.556_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_500/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab0703732a826e812935431cea8e0bb6364e04c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_500/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.050",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.63,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_501/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf9ae5fb5c6c68f7530768d989c3ee4cc709b28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_501/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.052",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.63,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.7_0.0_0.0_MultiDynamics_6_0.630_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_502/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64e9bc7f581c146bd4ea6c48248fff19791f3a6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_502/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.070",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.569,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_503/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a0d409ec102e55c1bf06be364132f7c3d1e09f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_503/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.068",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.527,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_504/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ac8d2464d25271bab4b25f0edc350547e85667
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_504/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.058",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.493,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_505/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b73011fbc12a69851e70914a2c13f497548a667
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_505/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.068",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.495,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_506/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a74038fde3876599b26d60151ef9946958d84fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_506/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_507/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc9aa98bf4d917cfa2ac7be7c3fd86f853006c33
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_507/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.064",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.493,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_508/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..132e1c0ec9a31ac403c1be1f355c4a0bf0c41f32
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_508/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.050",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.545,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_509/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82344ad75d72f6a72ec6e62220adb4072a56b370
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_509/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_51/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_51/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc4a502b253cc4d6bfea7c0d2fbeebb3a2f317e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_51/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.068",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.516,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_510/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8867680c9e1cb55a3e7857274198ecf8b40998f3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_510/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_511/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1452bb6392f66fc6c698fc4446df6607832b2c15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_511/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.066",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.536,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.6_0.0_0.0_MultiDynamics_5_0.536_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_512/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5baf7dc076c764841de0e924dec890544685063f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_512/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.070",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.57,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_513/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9a6ef3df95b71ec823e8a98a67271e093d79063
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_513/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.056",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.556,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.7_0.0_0.0_MultiDynamics_5_0.556_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_514/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..432bba656a8831a1a7e26ee1db41934f0277c26a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_514/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.53,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_515/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a10a602d9d44b8216917395173c25b2ab63598
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_515/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.060",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.59,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_516/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3851749502325ca1c11a32888f778b4e9aa683
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_516/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_517/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..935ccc32007a58a2803aa664d29978f951db41ef
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_517/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.050",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.57,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.2_0.0_0.0_MultiDynamics_4_0.570_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_518/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6338ee04ced5499eec0fe079f8399402503edad5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_518/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.068",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.495,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_519/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c50dfd3bdfde19e679e5a0e951499659084ad9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_519/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.056",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.616,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_52/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_52/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..315d95db24b8a0ca1fed9467bd58d7e5382177b0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_52/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.070",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.516,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.5_0.0_0.0_MultiDynamics_5_0.516_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_520/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab811b4d3763c5bfe2c4117b4a2972dd47a2661f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_520/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.060",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.556,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_521/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dadfb3ec9f6e8cc6762e5921bd051310708b7ab3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_521/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.064",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.54,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_522/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a472ce3be419d289f7bce56bb3b218fc5dd85b6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_522/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.060",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.613,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_523/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef282638697b9b7054c0c2fab004d92cdadc3a71
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_523/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.53,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.1_0.0_0.0_MultiDynamics_6_0.530_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_524/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7e20994eadb7827d9f3a4f953103a402bf8a0c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_524/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.066",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.493,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_525/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bfec530e137478aa4f2238b591dfcd5473ec3a6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_525/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.536,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_526/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef77f7f90b319397e3c0b8c19055add5c7e7d46
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_526/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.060",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.545,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_527/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..368f1b81ba7837f569755cb6316357ca6661d8cc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_527/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.070",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.616,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.0_0.0_0.0_MultiDynamics_5_0.616_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_528/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b713ca7284da6bcc074a12621fa7912e29722564
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_528/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.052",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.56,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_529/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..effcf88bcae2a66e1656cc0f0a8debe3b5abbb4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_529/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.054",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.616,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_53/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_53/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b208003cc0f081e389c67f2fff66d5cbb84548b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_53/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.068",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.593,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_530/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa879be2574bccab0fa1821f7bc1e4be539999e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_530/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.058",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.54,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.0_0.0_0.0_MultiDynamics_2_0.540_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_531/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd57b3d19a4a2a87f89b1d17da9e49c47e7cf91
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_531/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.064",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.596,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_532/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4fca0ced7abf8ef7333f6173c9b1d7584e0dab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_532/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.054",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.477,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_533/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..069c93a4e774824d788b0e3bdcf2d6a685522bfd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_533/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.056",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.52,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.0_0.0_0.0_MultiDynamics_4_0.520_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_534/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6336a04ba3b125b17b3990f42ca05f84df66fe13
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_534/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.064",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.427,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.2_0.0_0.0_MultiDynamics_3_0.427_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_535/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eef8165ad4e3688fcd86ed5abf4d773ddaa5441
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_535/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.064",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.556,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.7_0.0_0.0_MultiDynamics_5_0.556_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_536/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..900bdbde3cbd8f2e8da225ad382b1d6cbe6a9777
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_536/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.054",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.563,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_537/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f5023449c2f483aa25079e8a72f46939ecb1d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_537/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.064",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.613,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.6_0.0_0.0_MultiDynamics_6_0.613_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_538/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e91ed103b61cbf296783d03848922107c0c16948
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_538/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.052",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.556,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.7_0.0_0.0_MultiDynamics_5_0.556_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_539/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a562312260382f45fdf75a3cf739081c9e5abde9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_539/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.070",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.63,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_54/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_54/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4124be1add243d5cff9ec966f822bb7d58fe2c25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_54/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.058",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.616,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_540/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5200c7fd2e555dfff56d3f978e42416900afed1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_540/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.477,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_541/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5b393ef6ec69e192d4cd1e196deef6bc710103
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_541/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_542/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..711a5c4d2e4302060af8c8919e0960b66273f85f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_542/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.054",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.593,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.7_0.0_0.0_MultiDynamics_3_0.593_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_543/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc90fd3c6cb6205f991e8b8edeaed3f5063cb9b5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_543/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.052",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.62,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_544/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..625f8749b7ebf906b8a46a4bd18a3776180a7ad9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_544/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.070",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.58,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_545/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9391a4d08b137b61cd10c280b8019ebb562e0c0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_545/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.068",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.56,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_546/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2736dc84390e101f69f133afe1b994d7466881d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_546/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.058",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.56,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_547/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c759e3177b83e69ba6264698a921dbd9192a538
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_547/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.064",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.495,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_548/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdaac7a640af2d881d7adca0790f8f042c4ff33a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_548/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.53,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_549/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3e716e6c15ab4a944d2356c454285f1dab1648
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_549/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.060",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.56,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_55/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_55/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e4af733916c089105dbab465af5bd4dc39c28b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_55/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.068",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.527,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_550/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94dfc634d9def6f7b76cb696d08210f3cc0f430
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_550/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.53,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_551/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..164507e905da85b05491618f09182ac0b02a14fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_551/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.054",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.545,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.1_0.0_0.0_MultiDynamics_4_0.545_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_552/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf4b41aa46c17f06fe68a2b1a67a631346731523
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_552/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.058",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.63,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_553/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a26857ea108930a1c4de514839a3736abb8eb54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_553/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.064",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.59,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_554/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e39f5007cc1d66acd1f5cecda4c512be9ffef1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_554/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_555/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db6b68771ceaa3e42050952979eeded28ed0f9f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_555/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.054",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.527,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_556/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96bec7888e066c72c40a844d1a237d1f178ac96a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_556/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.056",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.596,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_557/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73042dc3715f717b16c378395247480e5afa0853
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_557/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.53,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_558/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..028d1176d9b5bd9348b55947737c33814ff224c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_558/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.050",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.536,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_559/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef79e8e7c8b9c9ff427d7de461cd7178febb6221
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_559/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.052",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.62,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_56/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_56/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d15837dabea162865a7bf17b4454aab7d72e9c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_56/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.066",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.527,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_560/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6c7a86297643609a459d9d40c2a29000574a6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_560/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.050",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.59,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_561/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..785799878e254aa20b73d787bf09e0b234b56ff3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_561/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.054",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.527,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_562/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f21e9a68691797b5ffae09ccc21096a3b7553ae0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_562/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.052",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.57,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_563/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a46223aebf103a403700ae47e1445f3b0371e40
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_563/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.056",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.616,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_564/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..967f2d019be4a4d10ce8c7b788b49b488a48a698
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_564/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.060",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.477,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.477_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_565/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff25666767141750dde58d927b10609aa8906c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_565/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.070",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.52,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.0_0.0_0.0_MultiDynamics_4_0.520_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_566/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bedc81fc77b2bd03012e754fe83ed74994511c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_566/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_567/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09279938ef562ab7629863c952464dfa7de5c4a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_567/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.068",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.57,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.2_0.0_0.0_MultiDynamics_4_0.570_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_568/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3077b2e2b75903096bdedd915541f989ec226978
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_568/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.054",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.545,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_569/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2305a1fa1e3c66e468419f2bc95ce4c47df0c2ba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_569/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_57/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_57/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5545441de9f07d182f3b2140d9d294e6312ec04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_57/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.066",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.516,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_570/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d20937137b4274681f92aa8f4993fd704b4ce98
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_570/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.056",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.597,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_571/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c29925dd30c898f2c1a1c1f271b232bbddf112fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_571/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.070",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.527,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.5_0.0_0.0_MultiDynamics_3_0.527_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_572/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe915e442c52cc15fa4f2a88c3f3d70aef1a868c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_572/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.058",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.596,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.9_0.0_0.0_MultiDynamics_5_0.596_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_573/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..237c9943e2d969999195057796a3b9aa7f6949c4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_573/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.056",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.595,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_574/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..977ddd4b9282a185fab95a51d8ac5d11125d2e67
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_574/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.052",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.554,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_575/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3022ed3e51a4b883494b6a8a3eed5bc7bd0a7088
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_575/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_576/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6feef826b72b4e6170a12c943588b76f357372ab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_576/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.064",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_577/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceaf238c37b931cd7b165c48f3aa0b78a0885327
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_577/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.054",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.53,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_578/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..493123c9eeb5908b759da30dc0789b48cd67e72e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_578/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.064",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.554,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_579/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25785177e1ceb27c52c24b9da180a931aff7084
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_579/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.060",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.593,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_58/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_58/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..670a21d53e8e8d185afbb6471a6c7d03ba3efc4e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_58/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.054",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.597,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_580/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05f0114deffc0c0b144a167e76ec2cfc82e01ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_580/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.066",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.613,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.6_0.0_0.0_MultiDynamics_6_0.613_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_581/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..786ca8da06b988e472a7434e58126c5c15f2f8dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_581/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.052",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.545,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_582/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..019475cc75c8fe02a2ad98b94c7761428073104b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_582/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.056",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.59,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_583/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eae3322288eae95ddce7112be18538b673c57142
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_583/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.056",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.516,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.5_0.0_0.0_MultiDynamics_5_0.516_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_584/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..536946b5a72bf3ac8c6681ef7611cd56fde47275
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_584/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.050",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.477,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_585/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26ccfe021761d96773e143b7a29c66b49df25e77
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_585/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.070",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.57,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_586/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ece711ea813004966f1419fc744125e7612076
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_586/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.058",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.63,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.7_0.0_0.0_MultiDynamics_6_0.630_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_587/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0031d83a95373d2a59aaa8d106f1b5b8c4db09a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_587/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.066",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.576,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.8_0.0_0.0_MultiDynamics_5_0.576_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_588/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94047ac46f5b16cc743882ca9cfc8590b59b545
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_588/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.052",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.593,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_589/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74731722e04a6639fd27375ed58f9b94e159db88
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_589/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.064",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.57,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.2_0.0_0.0_MultiDynamics_4_0.570_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_59/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_59/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21abd1a90b96c733bf0a077ad32ae3881f825edb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_59/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.056",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.63,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_590/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb185e5812531fcfb4a26a94927997aa3b08f441
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_590/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.050",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.593,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_591/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c688c7ef796c44a5109cb8b4bf3f91824e88fc1e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_591/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.050",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.427,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.2_0.0_0.0_MultiDynamics_3_0.427_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_592/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c5fcde8892e425e051ab149bf0cb5918bdabc22
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_592/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_593/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9847a13f4536b6d28373caa0e33d30303b663aed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_593/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.052",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.59,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_594/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f65f1d9cd05ccc7bd81cce783e643117dd9b00
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_594/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.060",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.52,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.0_0.0_0.0_MultiDynamics_4_0.520_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_595/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06fa10a84926af2e8ace44f8641ed3b10b6c8067
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_595/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.052",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.54,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.0_0.0_0.0_MultiDynamics_2_0.540_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_596/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..087ff115fe02eeade2c9251950b1551b93ec23c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_596/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.058",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.576,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.8_0.0_0.0_MultiDynamics_5_0.576_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_597/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb640f9b30cd4de9def5c819d867d38c871254f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_597/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.054",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.54,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_598/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e904ff4b1060551aa0f0b8bc695916f97e9eb123
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_598/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.060",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.547,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.2_0.0_0.0_MultiDynamics_6_0.547_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_599/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc38bcb72dd978fdfe10d77feb0eeaa1a466480c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_599/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.054",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.554,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_6/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_6/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f0f4e11c7783eb1477fec56ad75288f974e56c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_6/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.050",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.627,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_60/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_60/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27b4630a9254cf9c7052ec660108ebc43acae506
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_60/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.052",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.63,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_600/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f08260057d7c60fd0bacc929daed535aa8ddaa2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_600/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.056",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.545,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_601/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcaaacd8ac6ebe51a2c45f74737528043935249b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_601/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.060",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.527,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_602/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1d446aa43e1b585718378570ab81a4114792d3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_602/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.052",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.63,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_603/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc29bbf15c83d706a4849eea5f28199f0316f25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_603/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.056",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.563,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_604/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db6a4653c91701069414c5e310dab92c92c0048
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_604/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.064",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.477,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_605/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b19cb35bedae946d59e70642bbd4287de9275c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_605/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.064",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.545,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_606/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc428fc3568d78ce64b8cd9ddb8121d944aae23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_606/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.058",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.616,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.0_0.0_0.0_MultiDynamics_5_0.616_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_607/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6204cff55f646bea47c1e4d4706ab9edafff8ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_607/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.050",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.53,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_608/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8685c3d37ddaca5d369baf0edf2ac12dc6006eeb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_608/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.53,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_609/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6aa04bddb49aa4feb84135b893ef0474d0876
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_609/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.056",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.583,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_61/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_61/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b976fade665e13e1432b2066bf65377ac28790d8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_61/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.056",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.527,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_610/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7c3584547bb253e07288af2e2f62ccc58c60fd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_610/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.068",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.62,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_611/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06cc02aafe4303c77fcdd6aa13a1fb3b79a4a9e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_611/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.056",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.527,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_612/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a716429dc7e86cb25d7543653deebf890da4de
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_612/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.064",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.596,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_613/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f13be38271933e2ab015cb892391fe187bc0fcd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_613/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.050",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.583,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_614/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b58041b18d804f33c65ee1e76ffa7e46159ef7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_614/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.054",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.527,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_615/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b05155f95f12b374e98a6d15904395008412ba
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_615/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.054",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.545,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_616/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b2288df2d10b6086e1c0d50abf3596650f7b6f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_616/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.060",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.527,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.5_0.0_0.0_MultiDynamics_3_0.527_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_617/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66c09bb47de7f7647b09b9b053598cce7a402c0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_617/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.052",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.427,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.2_0.0_0.0_MultiDynamics_3_0.427_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_618/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24296ad9d0c5db86fa4e8bb6e86c004c1e061d0b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_618/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.054",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_619/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3942b67ea5b50edbee55976ff065b45c28c70a4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_619/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.056",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.495,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_62/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_62/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7aae0b89dff13d310baf05c19092948846edcdc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_62/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.050",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.595,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_620/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0575a3109994e39d48215c0a457f3a578cab0cd0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_620/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.052",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.56,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_621/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38c730b50469c04025e20ef8f3397dbb1c9e945
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_621/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.052",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.495,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_622/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43788f1ba6fb7c768f6ff4628a94f2739624cc7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_622/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_623/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c95d92876d9c8f12bfa4e3cc4d212e31f19db4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_623/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.058",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.56,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_624/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4842e409cdfff77b2893e5ba04b76071c6a007
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_624/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.068",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.493,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_625/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5119f5851c642617769b365d9d7e0069c925b5fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_625/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.056",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.595,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_626/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9a4879526f84be71937330928dfe8e83c2711f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_626/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.052",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.477,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_627/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e84bfcfa79f8f69ab4acc63ba4049a2e56b6e53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_627/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.054",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.597,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_628/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80d79d2843e13643b54081ebd50be953418e56f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_628/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_629/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76ca2be8d8359e2e364f2914247adf0c97251b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_629/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.054",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.493,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_63/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_63/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f222dd4d197cfc23f3fd0055eb20c50dd1a255
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_63/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.052",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.516,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_630/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0aa17d67325f30dd56a4a7fd02661b16ff422d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_630/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.064",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.516,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_631/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9911b0b881771befc18132ff2e68fef1e222f73
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_631/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.066",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_632/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6101bd4fb439b635ad982b4504956f3e7b0ef5db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_632/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.068",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.545,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.1_0.0_0.0_MultiDynamics_4_0.545_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_633/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5005e17f37fac2c2db32f50ee95f58faa235a9ad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_633/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.058",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.556,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.7_0.0_0.0_MultiDynamics_5_0.556_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_634/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de36d3eb0ba93cb4a2eb5e4e72bb1ae8101b6009
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_634/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.052",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.493,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_635/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf19c3d5953d60a229cdca07916d4b24251d5eb0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_635/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.052",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.547,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_636/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d60cb96be1d9c43ca927fa69462547c477d673f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_636/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.060",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.527,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_637/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62159393f1a9b5e4e51f1cb26a1a3fc6a7a11b2e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_637/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.060",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.59,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_638/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..918b644edd030a3f8ffd2b03ff162304cd8ac3d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_638/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.064",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.52,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.0_0.0_0.0_MultiDynamics_4_0.520_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_639/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b158fed8b860dbb2d1fa930e1b1d5e8127f5b994
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_639/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.052",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.536,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_64/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_64/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fada4b3318cd5ba31981aaaf0617799f424962ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_64/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.064",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.583,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_640/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a370b37c5b4ebcd73fb1f900220cb9556f1b885
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_640/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.066",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.62,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_641/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0752d950e99e48e0fd603f49289d82fce307ac35
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_641/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.064",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.54,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.0_0.0_0.0_MultiDynamics_2_0.540_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_642/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b644913e0ed45513d101a712e32b9f64d903ccb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_642/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.070",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.627,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_643/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5094bfc6b837143abbbd5be84b388cf5178ceb3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_643/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.054",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.62,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_644/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b8ba9aa43596c28650a7213e64c8f0c984a32c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_644/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.477,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_645/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13df7eb6b453dd3ccd74faeeb2f209a8e960b083
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_645/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.050",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.627,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.8_0.0_0.0_MultiDynamics_3_0.627_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_646/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b960de5701c7e031bc8e95e01465598b224f7e49
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_646/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.056",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.563,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_647/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec89a5e47cbe33c0c254c266bd85674dd2183ef3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_647/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.060",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.57,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.2_0.0_0.0_MultiDynamics_4_0.570_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_648/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7db6cd1fb26b39225a6871cd335f7e848d25dd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_648/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.056",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.613,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.6_0.0_0.0_MultiDynamics_6_0.613_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_649/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..662736711c9e89404655039b272cee948fba86b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_649/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.058",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.54,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.0_0.0_0.0_MultiDynamics_2_0.540_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_65/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_65/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbda52416597dcc656a7f8cbf00a662dcecd47b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_65/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.058",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.563,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_650/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff25e5cc762e83a26be6e797ef55d925014931b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_650/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.052",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.554,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_651/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..133989906390c67c36ea1d18c4cd08493629ffb0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_651/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.054",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.62,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_652/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7443d99a14dc88aa1e52b541699f31c6f77ffc1a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_652/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.066",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.596,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_653/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3387d844260bc743eaa531016f3f4a0ab7b8a839
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_653/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.054",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.593,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_654/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23b587d6e820e5a0d927a839effb877e441190d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_654/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.066",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.56,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.6_0.0_0.0_MultiDynamics_3_0.560_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_655/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a610d82d0dcbbd74fbb28df3c0db893704702d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_655/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.064",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.595,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.3_0.0_0.0_MultiDynamics_4_0.595_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_656/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aceaec48fe8e3f672386e697e63cd6556c983ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_656/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.066",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_657/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b6fe48f3997a8aaedfd4f13c82ef46b4e5f513
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_657/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.060",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.613,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_658/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c292cbe4c02ef143adb71a3386444aa35ccdbd0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_658/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.536,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_659/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21499189ef099f4029c11744ce331fd4d93e91fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_659/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.477,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.477_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_66/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_66/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..209d9153cd5addbf4f6318633a8662f0d2611f0d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_66/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.060",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.54,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_660/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7ccd25a9460de6900c457141dfd8c0b51bd60d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_660/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.070",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.59,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_661/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a203a641951cd0c85b2f69115f54ae7c3593491
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_661/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.070",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.62,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_662/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0699d65e93b2421e6c2e59c905c1185b2bdbb16f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_662/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.056",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.569,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_663/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..309716c3c0650735815fb34d2ab6245eb0696c6e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_663/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.056",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.554,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_664/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4d9185681a64d4dc1c73bcaa6372188054669b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_664/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.070",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.554,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_665/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e30efdd29f2bce8612a055b9294695060d275e4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_665/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.068",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.547,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_666/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bfa7228021ec64d56622cf70a028132d145103
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_666/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.068",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.627,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_667/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df782573ba51661a22b7a327a2e7be6375a068c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_667/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.058",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.593,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.7_0.0_0.0_MultiDynamics_3_0.593_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_668/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1767e96b471f8a41935b0b1d6e9b66ab86e280c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_668/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.066",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.597,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_669/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3193e311c43588f18c66f3f1ac9f9e1d494e619
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_669/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.054",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.596,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_67/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_67/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..906d8b2fb6f2ad0fe945078cb7bb61ac3e915e06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_67/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.050",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.569,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.9_0.0_0.0_MultiDynamics_7_0.569_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_670/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe0f06bf51f2672e6bb08da3ff0f1d77401e94c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_670/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.536,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_671/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..848abb23b5925d28ed8b1e3abb5fd02cc6ab8190
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_671/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.070",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.595,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.3_0.0_0.0_MultiDynamics_4_0.595_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_672/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a092e5544c56c5a45aec1c9c0d13d83c5d78fc6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_672/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.53,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_673/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..082b983b6102d58def3ea196b70dc6ff8c85f2b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_673/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_674/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f073226460306dae9a4ec2b91f7a1301fa5849b8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_674/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.066",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.52,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_675/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..626c4e4d86bc03a205be1b64f7008273fbdb8508
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_675/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.066",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.556,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_676/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9332139613d391e6b924155d09c12954d4fea92b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_676/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_677/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfeb49f64973a5655d683fa04c61e2f455dc61d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_677/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.050",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.516,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.5_0.0_0.0_MultiDynamics_5_0.516_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_678/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0744d5d96c9f933a65dbe9e2783812c3c9c0247
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_678/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_679/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec5061eb2b367489f190c750d360d2e0724a4097
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_679/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.058",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.545,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_68/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_68/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1539a6856f551cc0b8cdd867bdded39dccbc5379
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_68/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.050",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.593,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.7_0.0_0.0_MultiDynamics_3_0.593_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_680/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d0cd8e269d021669025ecc1d97049a7a74d53f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_680/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.070",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.545,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_681/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c1ce57b08d5949994e14b480902ae8d65eef44
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_681/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_682/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e506c61f1b812c4637121c5aecb3be7abc91ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_682/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_683/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1279bc7927bad30d241cb50b04c6f54c5400451
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_683/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.064",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.569,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_684/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdceed1fe2db26bd433e1aaf8d6e5ecd7840b0d1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_684/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.068",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.495,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_685/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb26114ce4fb3afe0033a297a62742551a697e0c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_685/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.054",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.495,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_686/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09387fc66892d2de08973ca547c318b1f2eeb3b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_686/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.064",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.62,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_687/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8b6c1d8f2d65d41c883ebc3f61307e085156402
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_687/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.058",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.427,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_688/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d1c11d166e3ade9af5e3c45839aae3eb612a24
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_688/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.068",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.62,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_689/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed73a2c040847513b2d7fda40a93cd54612be3f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_689/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.056",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.57,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_69/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_69/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..081df3d53c614a87d7d09e847d439e50cd887ab1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_69/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.058",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.477,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_690/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edd15c12d4c819fd93090a6b1a6ec29dcab5b5d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_690/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_691/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a0e332594440acbb1a8b8760d936b1e6962aaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_691/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.050",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.576,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.8_0.0_0.0_MultiDynamics_5_0.576_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_692/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee35b5cd5e4399ff09faeb9be19306df06585400
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_692/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.052",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.54,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_693/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1756e7d4c72d157ef444b52a44a5cc28c758c6d7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_693/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.052",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.52,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_694/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ec2946e82fef281f46646ab68bbd4f229708f9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_694/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.060",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.616,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_695/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4d504fd70f88c4bdafe2b39387ec478782b3c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_695/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.058",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.54,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_696/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c62458e0753076da25d69a95eabc344c81db2528
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_696/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.066",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.616,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_697/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6042930ed79f96845ad249c1adc50444782dface
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_697/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.050",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.563,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.3_0.0_0.0_MultiDynamics_6_0.563_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_698/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43f38227cb717c006b95164e8a08c5b3edd6474
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_698/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.064",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.563,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_699/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20987ef22c7b317096589202f7704ffe369499c8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_699/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.070",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.63,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.7_0.0_0.0_MultiDynamics_6_0.630_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_7/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_7/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1408d04f371280c918b47373a4292c13c24c5822
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_7/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.060",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.593,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_70/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_70/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d984cc08e8cdb6171e733d342e2a6875ea590b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_70/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.054",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.583,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_700/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f771abde907d859618ff6cdfefa274f2d4d1f0e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_700/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.052",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.595,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_701/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f06f54baf9f68764eb6c5fb811ea6a4a5c3c13e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_701/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.050",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.554,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_702/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3e6c495bc76b81cc3d12fc76c4b0bc2f4306aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_702/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.064",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.495,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_703/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c56799a554c52380fdc492cc1f0b636c0307505
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_703/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.054",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.593,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_704/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42ec94c97bc07115ce63273b7178124cfb65aa23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_704/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.066",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.527,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_705/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79412b48cf7b185932732f44fc2eeb804689c33
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_705/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.054",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.493,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_706/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0382c4b835b6cfca0772b0275df7df1bd7ee725
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_706/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.050",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.59,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_707/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b58bed3358c28698c58fd9110fca71ec4cd3d21
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_707/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.070",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.576,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_708/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de577b2c7928de32a1c75f44455e72aca1665451
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_708/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.060",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.554,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_709/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c7375273db865acea735264b41e1369704a0c06
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_709/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.066",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.596,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.9_0.0_0.0_MultiDynamics_5_0.596_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_71/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_71/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..116be2d6fbf0d4caa94d7a2f0ebe5bfe15893cb5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_71/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_710/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71d41a92237b1c1c6bde4aef9bfd2f7451f902e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_710/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.064",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.597,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.5_0.0_0.0_MultiDynamics_6_0.597_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_711/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ea9baf41c12f76cda0b2a4ec56bb95a301a959
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_711/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.53,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_712/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77e835267a85abf4ee347ff922f08346ac79953
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_712/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.068",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.576,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_713/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..147f97a864e7966a5d96b8dcfcf3f1ce868504ce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_713/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.068",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.563,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_714/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f121b9aefa9a9567f7014d73c54ef5bca809bc7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_714/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.056",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.516,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_715/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58134043aaca45b739e0603a36bd80cb155ac915
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_715/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.050",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.616,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_716/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26fddd7f2c72ea78ce44018b06026cd10e74c3c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_716/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_717/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc0f14db6d7ea78ab4401c2409324890df415619
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_717/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.050",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.596,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_718/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..996528488f50942780c570baabe1e14d656bd19c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_718/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.066",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.627,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.8_0.0_0.0_MultiDynamics_3_0.627_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_719/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38c82d6b8ce0db249b0cec82f7cdf10e3fc3337a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_719/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_72/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_72/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb5607a88ea8706d916349cd45039076daae0e9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_72/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.066",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.554,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_720/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e208757cb27d4c97c7d18e95292b0fb5446146b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_720/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.060",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.59,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_721/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21678860f46dcabce1a466af3c68932beac20df9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_721/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_722/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d8ca9397b200a13f92bcbfa03f17dbb0156318
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_722/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.052",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.556,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.7_0.0_0.0_MultiDynamics_5_0.556_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_723/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0c28f32f09062fae789723d40c19e9b68af0e2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_723/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.064",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.527,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_724/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a64d43e6ea33029c4b3bb6705b2a0ae2057909e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_724/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.068",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.595,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_725/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..181e3a170f072e9fafaa18d9b83557b805bb878d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_725/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.052",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.493,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_726/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2882b78c54954b8a2c1d45834e2a7fe52385ea4a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_726/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.050",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.53,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_727/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb92c36383ee000d3459226f6dd985cc50b2555
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_727/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.058",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.516,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.5_0.0_0.0_MultiDynamics_5_0.516_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_728/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b8f27b6dd7271e59f81a20a42e4771cd1d81aa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_728/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.056",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.57,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_729/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb48fb5c0a1ea987e64f908c132da5d65e6a6364
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_729/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.050",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.613,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.6_0.0_0.0_MultiDynamics_6_0.613_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_73/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_73/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69b3d1d00abd5a27c4888f18eaef599c5d0d664a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_73/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.4_0.0_0.0_MultiDynamics_6_0.580_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_730/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80987d0ad979799e51783cbe302d25fb9573ca9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_730/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.066",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.516,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_731/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf1d28f991985bf44d94c9599faa97dbaa7e4071
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_731/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_732/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65564646d05e79191f06a333f28d8bac6d73b906
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_732/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.054",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.596,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.9_0.0_0.0_MultiDynamics_5_0.596_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_733/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..200c3e30fcb94d62424cbb643f5dc0cc9a12e1f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_733/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.068",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.547,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_734/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d923d2203c668be064f8074cff14e46b811c9a48
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_734/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.064",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.563,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.3_0.0_0.0_MultiDynamics_6_0.563_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_735/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6536e481d7601e90dd39a01302ef6fcb33cd55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_735/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_736/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a494677d6a527a58355c02c556a471fc605217b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_736/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.058",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.527,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_737/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a77df304a81f26a62b53a3a679429dd6e1d6b5ee
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_737/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.060",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.52,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_738/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d75803c0f60913010df7a2c0d11dab477be8934
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_738/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.070",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.495,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.9_0.0_0.0_MultiDynamics_4_0.495_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_739/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8c7c199e200306573fda7ecc2f9232cfec7a99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_739/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.477,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_74/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_74/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcde4ace833b04103e04b31f551229a699064d5b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_74/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.058",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.627,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_740/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5102b9205a662501aa9186f58ec7a9bc3aec2f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_740/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.060",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.57,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.2_0.0_0.0_MultiDynamics_4_0.570_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_741/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e2d9ae18933592b77f455eac31663ad6265c94
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_741/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.050",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.597,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_742/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42549e9e1dadb48d0dc2ece87bdf00c5b61c4262
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_742/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.050",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.495,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_743/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c862efc7cd79a5b050551ab5442de773debe9d8d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_743/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_744/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1f6185469024be6707cad22f59a651f44917e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_744/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.064",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_745/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e2b2e581291040fab42bec8a4bd5fbcc764f4b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_745/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.058",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.563,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_746/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5fd6b00f12c24a774686b62425ae510be72a55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_746/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.477,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_747/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff35f31cdd0c305a158358b86b8a03c643a6f95e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_747/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.064",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.595,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_748/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..addc6da8614eed4627b291152444b1d0134e76a5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_748/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.054",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.547,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_749/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade36da11df31e2291851fd68ff6e475c21b4ff1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_749/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_75/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_75/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5debe90291e126f3672ecb20e31ae015d2a96138
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_75/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.058",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.53,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_750/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd81d86df3d9d1c1e1da33abbab9aef355067db9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_750/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.050",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.59,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_751/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1a00ef5199a1ba0caac3ab822c1b9b5f72ce6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_751/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.060",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.54,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.0_0.0_0.0_MultiDynamics_2_0.540_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_752/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0d66ade384b7f8bb5a0fe75ad483e5a1d99bb0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_752/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.068",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.545,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_753/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24898fc20133cdc84b896f0ee7a340c21c461f0e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_753/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.070",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.556,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.7_0.0_0.0_MultiDynamics_5_0.556_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_754/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1730f0eb9c281b7d17c8f475836f6213050ffe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_754/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.060",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.595,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_755/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a5014dd84e834d53ff4d872c53b2915a4d4f02
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_755/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_756/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91c5eb3837daaf78ffccc506e18b31b4577add9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_756/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.068",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.53,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_757/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17fea41715ca472a27d7d353fd9d0fd700dacae1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_757/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.058",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.616,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_758/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8a6a5ada2a7624527b16213e32cb09c11b2c8e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_758/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.070",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.613,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_759/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82099d5aca441f3b3800e1d9064f43314c13676d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_759/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.53,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_76/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_76/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ad0637f5f17622f03118ad71444f09a860b663
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_76/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.052",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.63,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.7_0.0_0.0_MultiDynamics_6_0.630_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_760/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fac48a17c600f536d1f762d345e3a6cd03ee2b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_760/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.068",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.477,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_761/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbcc730fb24cd31d4a43b382134da43d492fcdc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_761/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.066",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.613,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_762/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..504ab6e5dd1961656a3fe15f5f5a1f49e682735b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_762/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.070",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.516,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_763/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88cc064012093dc468b2ec15f598c19accafda6a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_763/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.070",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.613,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_764/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4038a664e1ae201b6e58edcd22d2672d5bc77e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_764/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.066",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.596,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_765/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a81227f8edd091caf6d49af38d93b0d77bab054
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_765/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.058",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_766/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6a05ca3ad09d9a5d4a7499a79b357e320534b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_766/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.064",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.554,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_767/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f519b7e79cbbb387ba1d4e46cd46ae32966f4ca7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_767/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.536,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_768/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce3c2f2b74c8ad1abe0fd601451a56345ba6e32
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_768/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.068",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.595,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_769/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f92b65f15f5a2b781187e025ab8487743dcbf1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_769/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.068",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.583,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_77/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_77/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c245369f42fb65eab37575a80fafc071253337d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_77/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.056",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.596,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_770/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75b6f5f7d874bfcff89256576d8d30fb8eaec43c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_770/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.070",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.547,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_771/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1febce63e327607fcf8e53fa117c94112bb99ecf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_771/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_772/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb3455ab8674526b9ea60b64373b46e896ab0cf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_772/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_773/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba75fbb032735e30d9af5101f52c3e325afb8ec1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_773/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.056",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.547,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_774/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7492ce1058b1a3a677fc46ae08060091be91deed
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_774/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.058",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.493,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.4_0.0_0.0_MultiDynamics_3_0.493_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_775/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f61c17319b0e612b28bdd92266a907ca9a8931
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_775/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.060",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.63,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.7_0.0_0.0_MultiDynamics_6_0.630_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_776/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3169e3c219bf177dedc1565b78e45320a93c009
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_776/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.056",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.427,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_777/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e81010bb615dd9295f9ea4523d6f298d9d64864
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_777/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.060",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.57,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_778/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1a0dbab95914cdd5167c736846fca184bcde01
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_778/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.064",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.59,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_779/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc8a9450ba54bf22601298f756ba018988ee423
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_779/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.052",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.58,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_78/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_78/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c05aa456bc8083b56b273747f13557194deca43
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_78/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.058",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.597,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_780/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c1e842b78a78a951ef9e5e532d4e24c92b2db8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_780/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.050",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.597,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_781/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..948875a673d6d3f9c97cb1328d486d386a664bca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_781/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.064",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.613,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_782/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2279779192f5de740ca0003f313b600b8b339469
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_782/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.060",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.58,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_783/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec94023e5ccd6820971e55079368cfc79a3e2981
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_783/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.060",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.576,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_784/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6e4daae7e69c59d6f1e4eb6cb83672fd193b04
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_784/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.052",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.59,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_785/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ef079e3cb66a343333ff976ff8abd00b0f5307
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_785/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.066",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.493,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_786/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b03f78096257eb1720433eac80454cb06250fbf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_786/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.060",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.596,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_787/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e416eb3d7baa28f50940d0b7ab6990495c0128a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_787/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.060",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.52,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_788/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4736deb2cf4dafe0e18e8c50f22ddea86e6169b2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_788/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.052",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.556,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_789/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a93e7eb06ee599fec15bda0b80ccb3d289bc43
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_789/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.050",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.56,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_79/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_79/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56baa56896b08713fef830a685ee833d92dc27b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_79/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.054",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.563,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the red target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.3_0.0_0.0_MultiDynamics_6_0.563_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_790/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92bbbafcb5534ffd061e1d6456d7b1775047ccce
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_790/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.536,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_791/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7df675a0d94d0357c6c640e0f670f0af82992f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_791/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.066",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.613,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_792/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abc78806db8fbb2b64796f68737cc269ac2eba99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_792/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.066",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.52,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_793/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10dadb09c1110fdfcb2f9ac195382f6c2c1cf49e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_793/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_794/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce029bc217834015da8f1889660663a8fedc141
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_794/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.056",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.54,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.0_0.0_0.0_MultiDynamics_2_0.540_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_795/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..873dd9ec3f850f91f0686689cbf0d4a75e013f7c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_795/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.052",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.597,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_796/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f7ad6881824c8e36fe175a0452c01ab4791244
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_796/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.070",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.53,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.1_0.0_0.0_MultiDynamics_6_0.530_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_797/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f317a82d9276c129be076c801eee54be28f469
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_797/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.058",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.593,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_798/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..613c5a6f71a5f53a37369b9b2bc6836b784a809b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_798/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.53,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_799/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..702f9ec89727b96d9db674a7b3f103c794de4ae0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_799/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.050",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.62,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_8/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_8/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d5ab4bcef721f892c2cf9bc8bde76c7e55d58d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_8/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.056",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.527,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_80/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_80/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b700fd2f40371ac14fcb8b5c8994f893c70e9a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_80/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.052",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.62,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_800/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2049b728387e18e78e47d1f1ba1171781d8f12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_800/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.058",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.56,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_801/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ed8daedd9e8179cdc70084c5405dc6b51d39543
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_801/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.058",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.516,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_802/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c247c36a21afaca4e56168ada256e532a23a1b8b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_802/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.052",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.569,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_803/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10f2e603614538645a7c9b06103e875f3995aab
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_803/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_804/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2105c9afc260b2e467ed6e53d7b67afdb2c1784d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_804/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.070",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.57,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_805/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49af5fcf60b341d4ff357ac4173fbb4afe264959
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_805/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.064",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.593,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_806/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b53d8bac2158978ef0a5e0146d90fc630fe964
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_806/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.4_0.0_0.0_MultiDynamics_6_0.580_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_807/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e158081729c9759e333d5bd20aabdec3c6f740bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_807/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_808/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..048c8870daffe1e5a9391717bb97af8f26dbaca1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_808/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.070",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.596,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_809/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e6c1f0950554ed3b6b34fcebd1f3873dca39c7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_809/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.056",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.545,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.1_0.0_0.0_MultiDynamics_4_0.545_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_81/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_81/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a74b878fdb233961e92fe7d1e364ed12f369d0b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_81/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.050",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.627,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.8_0.0_0.0_MultiDynamics_3_0.627_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_810/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59b10e810e85eca4bf1f2370ea6f736390a7ac2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_810/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.052",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.576,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_811/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50569bb2597a5151e595b63e94f9b12bd3c9a84
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_811/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.4_0.0_0.0_MultiDynamics_6_0.580_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_812/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..378c7ec17a2d3b3c1131f0b1e0a3a66fbb04658f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_812/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.068",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.58,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_813/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1c361eb4d4acbe51dea9a8fdda1e2b7fed747f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_813/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.058",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.596,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_814/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f91d6b02fd0866e331aa95dcd3b021a7a8fe8e07
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_814/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_815/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f424eb612e2761ac0b52704ae4189e37f22ff2f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_815/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.056",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.554,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_816/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b3bcd00df8a8d6fb0f563a8af67fb163fab013
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_816/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.064",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.63,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_817/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61a381e1b934361cb99164cb4b30f372b827cad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_817/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.058",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.576,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_818/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d186e18399e88c638f796dee698f6d57151e45c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_818/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.056",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.616,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_819/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15af3de6924aba28679f3fec4b4d54172d349cd0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_819/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.060",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.595,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_82/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_82/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ba8d92865abb7e749211162cc2ff64b38d1af6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_82/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.060",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.56,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_820/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e1134e2482001daacf39060dd5fadff1afa50c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_820/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.050",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.569,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_821/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7221f1fb60b12d13323c3fa6c97ab44fcbd3a0c5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_821/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.070",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.62,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_822/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..445eaaf67eec0ea0df779d5d36afe1f025dd4b28
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_822/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_823/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4d45ee536e165f2ca4cf6629d3feb79700a9db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_823/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.064",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.427,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_824/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f6464e2f9426f252271239babedbe2f26ab1be
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_824/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.066",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.563,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_825/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0fa1d65e63d258185bd9c46bc480144fcdd19a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_825/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.060",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.495,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_826/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..399de8f18d6a7e57ac25359281dc08fe121ecf1a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_826/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.052",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_827/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..918d075867efeeb000ae055f5140d7b025e5cedd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_827/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.070",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.563,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_828/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2035453a2452b0fc4761b777d51546961854c305
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_828/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.054",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.536,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_829/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6fa628af690f1ed9fb5b82bee2535d67bf0a3bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_829/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.052",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.427,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.2_0.0_0.0_MultiDynamics_3_0.427_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_83/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_83/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49644d07e2d9c7d8dffe39021b6447c9bd716118
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_83/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.53,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the brown target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.1_0.0_0.0_MultiDynamics_6_0.530_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_830/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7df18dfacb6be94d375e0e146c7459b472d96b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_830/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.052",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.616,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_831/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1e42e77b6f5cfb11f16cc8e0b3ed16decd9131
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_831/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.070",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.576,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_832/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03aba763f00f7d0e8548ac2e819d9a373fc946d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_832/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_833/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead1fecb7ab5bd1063a1d432fad735ae2396a4f7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_833/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.050",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.63,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_834/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a35315f5989e9e9d94c188328064e86de1e696
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_834/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.064",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.495,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_835/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4d6d21992ef26750e1d16361860b3450253f3d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_835/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.068",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.554,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_836/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6ca70602d4bcf8e20790d049be39f2a1a23bd1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_836/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.070",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.54,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_837/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75f37f1732c63ea1f5ea396ebfd7e11dfed635f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_837/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.064",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.554,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_838/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8a6f22528ea280393ccbe21d469b3822979ab24
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_838/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.060",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.495,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_839/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7a235874333475f805b568860969f55774ba422
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_839/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.054",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.59,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_84/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_84/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca692f5723ac943ed9030a6983c29b364123a79d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_84/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.068",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.427,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.2_0.0_0.0_MultiDynamics_3_0.427_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_840/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c38da914f3f3384c2bc8165bbc0962f82667694
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_840/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.070",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.593,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_841/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e40ec38af0c25923a4262deb3953e39facc4d4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_841/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.056",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.569,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_842/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..125dbc4d10f5efbd4af3a7482853a517e6327f64
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_842/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.052",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.493,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_843/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b03b1a1f46a7168535b2da8380aed3a98da52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_843/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.050",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.627,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_844/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1735f35db02827e36e8ae65f6467b6e5143a58b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_844/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.066",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.596,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_845/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..973aad127152b5471b117766f4a0733d8ecbda09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_845/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.064",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.56,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_846/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f37fdf370f5c6d09ab52c62ba21708abe8bbeb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_846/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.060",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.527,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_847/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7203879e10036d13be5a495cf8546e8e8439d6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_847/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.064",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.547,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.2_0.0_0.0_MultiDynamics_6_0.547_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_848/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1fb8967bc10ba44a7073cbf185fd85f177531cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_848/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.058",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.595,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_849/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..beb5243943842ca8f5e1ded7e0df8f1b8928f188
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_849/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.064",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.59,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_85/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_85/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..852ceb4e774e619efd0d99fb70687adc05ace493
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_85/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.068",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.593,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.7_0.0_0.0_MultiDynamics_3_0.593_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_850/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b34d3728971f9142439ff5e173167e6e614e346
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_850/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.068",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.63,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_851/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6402487ab69de404cd13af24cc8f40d416ecb868
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_851/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.070",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_852/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74949935d68414a6731e491859ecdd96a70c055b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_852/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.058",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.56,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_853/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09566575141336ac12a452e2ef58ccba5685629f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_853/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.054",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.576,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_854/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b73d3d688b46cef859990e36c3d22b4bdb01ba0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_854/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.052",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.556,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.7_0.0_0.0_MultiDynamics_5_0.556_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_855/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d5e2b982388614db31313134a91040fd8d4207
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_855/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.056",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.495,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_856/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a18955c700d4a1f0b8e9c784e5249367f01aa23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_856/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.054",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.495,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_857/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7183cdbcbbdfb6e6b106e5e95bd112d6005a2d09
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_857/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_858/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df4ac6bc4f857eff7a779c36a83a55b44440fe8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_858/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.070",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.556,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_859/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6cec85080b03cb81eedd187c74002f0cf7c0221
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_859/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.070",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.527,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_86/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_86/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef30195b3753fbefac20afca276566a2b589ff36
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_86/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.064",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.58,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_860/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bec4cc92f1a5b797c4b5236c75d97c765e2a590
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_860/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.068",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.596,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_861/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29941c14bc9431474f83bbcd66cf07878f0cf72
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_861/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.064",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.596,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_862/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c77d813df0dfc07d71bba9acd7131e41933cc63
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_862/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.054",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.596,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_863/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..966269b80a039ff59179b0fe3c94967ca4a8cc7f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_863/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.060",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.593,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_864/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a43abb28c957f374dfd69a9a2b3baa769b154aa0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_864/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.060",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.527,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_865/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5b0b5855f4a6ce8bdb830faf29fc375f27c4c12
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_865/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.064",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.547,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_866/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a15dfc48c98173c7237b3d990fd81b5edeb64c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_866/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.068",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.536,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_867/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe6be18bdf73ca98ac33b93cbf61d7f39e269fe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_867/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.068",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.54,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_868/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4070f04c0314fde69a951808f58a953d609076
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_868/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.058",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.52,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_869/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56909fd7fdf70fb1561b820fd6c4808aa92b1903
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_869/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.054",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.63,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.7_0.0_0.0_MultiDynamics_6_0.630_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_87/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_87/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1938e5e17e49bec9cbc68f2843cd1e8a3ac387
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_87/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.058",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.54,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_870/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee81ac4d113e0c7f311c6e1b7ee6afd4c5acdf6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_870/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.054",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.596,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_871/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba649a410b360ab6e3042e32106b47c8d92b20cd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_871/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.060",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.427,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_872/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e170a2d5179721f7336c4da043bf7b23bcdc3bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_872/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.060",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.616,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_873/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6267b6a76806eca4e9cf7effbc54f9224012417
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_873/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.064",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.627,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_874/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b867dc298ba332fb9999b0579471338544861a15
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_874/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.056",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.62,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_875/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2337f7bd16357d3047270ec82c275c380f73a54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_875/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.052",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.427,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_876/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ca343465b0c96b29156bb5c05e16aca4c0121
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_876/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_877/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b369e68f9eb7cb39c6b17e632f6d5f61e33025a8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_877/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.052",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.57,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_878/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99206e9911debbeddaa80b66d00dc210f70ad70
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_878/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.052",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.554,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_879/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..736896ef9b1a9e8b2f6a672d7d20e6514af7eff8
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_879/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.53,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_88/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_88/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b8d94f5d912de261abb3e725b39dc51103f389b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_88/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.050",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.52,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_880/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa8e26b070d1739918d46ca89b956697956b9e5
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_880/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.056",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.52,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.0_0.0_0.0_MultiDynamics_4_0.520_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_881/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe68341f0e4d085ed7313515662db7bdf53ae63f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_881/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.066",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.616,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.0_0.0_0.0_MultiDynamics_5_0.616_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_882/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc004e1cb47e0214b73cb991f2a114df460afc3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_882/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.060",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.493,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_883/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a792b06585670fef7a0a2fd2eeff111a014de6e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_883/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.052",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.63,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_884/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8450f3feb31a7439cad9e1837f6378dae54841d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_884/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.060",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.563,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_885/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba515526a18e5b83b7686be052fbc69babccd001
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_885/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_886/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02eaf79e269dd7f7bd82614615d0e41093096e9a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_886/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.066",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.427,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.2_0.0_0.0_MultiDynamics_3_0.427_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_887/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5de99ce4982adee38bf7d65cfb3a8be993f60b3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_887/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.064",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.596,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.9_0.0_0.0_MultiDynamics_5_0.596_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_888/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f1283483d620fb088926a0ada7eb9d53220b0bd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_888/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.068",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.59,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_889/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e13042a80677567c23d8f35a900c2479e1eada53
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_889/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.068",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.495,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_89/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_89/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a8c42acbdab3090fa6f8d98897f6fc1f60fca2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_89/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.052",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.569,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_890/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7709f91e33d3542934dbd89d31c2178ab328fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_890/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.060",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.583,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_891/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccc087cc05fafb5e6bfb99aa8d651afccdeec92
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_891/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.064",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.596,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_892/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1304e3a12b5ada820e93aec781141dda5863d597
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_892/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.066",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.569,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_893/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf79127779bafdccd1a3129c319068062b34f4c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_893/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.070",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.595,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_894/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b859c4c0fbda8863af8fa176409257df6ed062
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_894/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_895/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c95900c94cdc55f91076278e165e59630694d23
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_895/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.052",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.596,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_896/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e35cbd51db6907e13377a0794c0c6de4c5a7fb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_896/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.070",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.576,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_897/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b299042363779517a8605c852f37f5ac43a349f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_897/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.056",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.53,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_898/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fabab19a95cc0c940c4646e4d6ada5e55ff6cae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_898/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.054",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.493,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_899/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d067b69c70b83a92da042ad745988088966a66c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_899/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.052",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_9/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_9/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3879586aae3643ad8518f5684d222e420a1f56ae
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_9/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.058",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.493,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_90/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_90/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9fc70d54dfa3c03e997ba44750ce5057e56c2ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_90/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.058",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.569,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_900/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7f51454457c5d5f2fcab201d3c4c6a42bf00bb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_900/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.066",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.54,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_901/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0430e602ed31d084041f66df69c0a150c126afb9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_901/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.064",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.536,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_902/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99bd751dd2d487f7cd9d23bde0d06907db626ff2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_902/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.064",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.576,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.8_0.0_0.0_MultiDynamics_5_0.576_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_903/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..925f7b4699b979d10fcc3b0aab7da842dd59d461
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_903/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.066",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.59,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.1_0.0_0.0_MultiDynamics_2_0.590_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_904/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4109ce4575129cdb58b3f4430d761948c808cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_904/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.058",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.569,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_905/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d93fbb9aee8fae2ffdaf54732ab9aa4a3a597fac
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_905/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.064",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.59,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_906/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63300fa0884f0a1950c4bcea59279fc785951cb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_906/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.056",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.58,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_907/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3e635445b9964efc5b6a18f926a5d0ed1cc2ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_907/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.064",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.593,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_908/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ef813454fb0b968598411ff5017b58f0647bc1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_908/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.050",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.52,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.0_0.0_0.0_MultiDynamics_4_0.520_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_909/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..599af1b6626e2552bc234c05891172324cbb3aaa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_909/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.058",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.596,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.9_0.0_0.0_MultiDynamics_5_0.596_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_91/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_91/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8574fd7f3d761d517e166ef32d0c990183973c2e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_91/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.058",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.536,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.6_0.0_0.0_MultiDynamics_5_0.536_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_910/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d96d20632aa9c549bf86f4ca0dab7be3f19cc37
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_910/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.068",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.627,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the blue target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.8_0.0_0.0_MultiDynamics_3_0.627_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_911/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeff5238ae34878128e4035464cebff90e0564ca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_911/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.052",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.616,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the brown target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.0_0.0_0.0_MultiDynamics_5_0.616_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_912/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b29268706af4c98d8f954ac263b4bd0e14808c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_912/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.064",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.54,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.0_0.0_0.0_MultiDynamics_2_0.540_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_913/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa88ee387ff8c066609fd41eb7231ffd4e308ff
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_913/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.066",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.63,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the brown target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.7_0.0_0.0_MultiDynamics_6_0.630_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_914/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c244abaa0930ed64e1148ac67aeb36dac6f38086
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_914/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.050",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.427,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_915/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..582b05cc5f3001954b1f3f5fd84960389086a576
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_915/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.060",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.576,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_916/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7712cad893d6ff17e4d9b987d2197032acfd453f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_916/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.058",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.59,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_917/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7120baee14c3ce7df1f26d0e7118eedb020d36b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_917/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.060",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.56,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_918/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32e0d504a7d02a851f9cb12ee4b64889b72de09d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_918/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.066",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.569,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_919/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5b255e9ea7d002fa7f61d6ec28a957d8c1d981
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_919/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.070",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.493,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_92/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_92/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b221a1a366aadb5c9db78f5e9ad19fcbf29fc331
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_92/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.070",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.536,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.6_0.0_0.0_MultiDynamics_5_0.536_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_920/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1be6ab1f7d5154fa483ea9a8581de65fecbe55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_920/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.070",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.627,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_921/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9129e19b301b20a3d4c06f2825f40802e06756db
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_921/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.052",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.583,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_922/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8694c3fe60f99eb2f945a6e8704360b3033a1f4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_922/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.058",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.583,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_923/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8934e2411fdb4fc16837d3b0d27ebdfbb9f72b4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_923/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.056",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.576,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_924/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1daa5717e475049d852c303f42ba3dfa1f49215
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_924/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.068",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.563,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the red target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.3_0.0_0.0_MultiDynamics_6_0.563_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_925/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1eab8c0c71b0aff100728b7909315ca1b5e36e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_925/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.052",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.56,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.6_0.0_0.0_MultiDynamics_3_0.560_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_926/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f873469fe7907f3ae7531d5d8d97245d866edb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_926/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.064",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.545,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_927/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..070c7d72c7885e4dc4e1c06783c6c8c5cb7fbffe
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_927/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.052",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.545,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_928/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b8143c7aa92ec3c628857cacc80cd0720e0fad
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_928/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.056",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.57,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_929/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f4e4629f032cbd28a29956f49272046e05fe5d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_929/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.052",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.59,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_93/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_93/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2049cbb5cd92312ad480330ecb7b8ab84924a7b1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_93/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.058",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.547,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_930/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1966d08d86582d5f2dd48bd6b25e9649b4eb4a6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_930/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.052",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.62,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_931/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66fc6be3d6dbee5bfc91d2b0202920f987fbc92
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_931/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.056",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.493,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_932/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..622ad6a99268e456df6a49331293f9e52d6ee8fa
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_932/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.066",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.583,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_933/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42e38ec6c23d51aee0a259e60d54ca41c776746
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_933/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.068",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.613,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.6_0.0_0.0_MultiDynamics_6_0.613_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_934/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae16eb1100b4d6f63f57228ecc6330ba988e1ee2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_934/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.054",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.58,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the green target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.4_0.0_0.0_MultiDynamics_6_0.580_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_935/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ba77b89ac00b8e28cc686af02bcbc129eb5476
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_935/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.054",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.427,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_936/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..017e75aa4403f234e1562a52602c865ac4841704
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_936/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.058",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.495,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_937/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90328ad185a3f280a42ba78b4ada6e0c8ef43e52
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_937/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.056",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.495,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_938/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0177cb8280cf0c41b00ef683ecb70e3c02b622e1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_938/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.070",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.597,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_939/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..623e899a2b98ea0a4f5d72676eca9779100c3854
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_939/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.53,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_94/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_94/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c3b7a8436de8fde801ae03f08f86308aa0b29b9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_94/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.064",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.613,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_940/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae88acd872525ceb0531c4189e49d5e0b0a3396
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_940/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.056",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.495,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_941/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9045f7f189ca13756d95183279c382c32bdc78a1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_941/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.064",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.593,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_942/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fefdd5f9cd986c1b4c6ca6ca6c40928fd096a514
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_942/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.070",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.477,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_943/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1351d35d7ac63a0d11c005a716c65e772ff7b7d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_943/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.068",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.527,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_944/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a12038321a4b5caed4842c2f93ba5debd8cacb
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_944/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.066",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.58,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_945/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25e62eae9169d616dd3947fe8d3b779278ab2886
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_945/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.064",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.597,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_946/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf4dfdf6181c26ca4586257ebbb75996271ce84
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_946/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.050",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.59,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_947/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6113f373e0dbf7ab26b73e146056c33e8ac23c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_947/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.050",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.54,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_948/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f4d60c267a6d7c5b6e41b71b1e101c22792a87
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_948/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.068",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.597,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.5_0.0_0.0_MultiDynamics_6_0.597_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_949/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecdf33e3a1a86aa3dcdfcdd6d31f3e70035f621d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_949/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.056",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.593,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_95/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_95/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1707f1af55bf8ef6cf57b6b1a348a1728a473bb6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_95/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.050",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.547,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_950/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5731948f8bb9e7eb22e8d70f064e3f2a6a19a32b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_950/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.060",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.597,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the yellow target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.5_0.0_0.0_MultiDynamics_6_0.597_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_951/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1d1f2c38665116789509039a756017ebb154bc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_951/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.058",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.58,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_952/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69947ef63d1db391cec6439892e182364f3b788d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_952/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.070",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.427,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_953/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58db6bd2da04154bc918c088360ee3072df9214
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_953/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.054",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.595,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_954/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f00ee90bbb1f8177aed28bda9f401aa4ef878e7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_954/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.068",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.56,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.6_0.0_0.0_MultiDynamics_3_0.560_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_955/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..712dbf36881619a07ffaff4f8e9c09cc7b415de9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_955/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.066",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.57,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_956/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac82ca2e52e20c73483f726c4c2511b75ca7ee26
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_956/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.054",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.59,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_957/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07459633ab61a89a5c5c2450a1718bf56eec258c
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_957/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.058",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.54,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_958/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2d8f676db94d9a41bfffa632d89b0054d1b3c6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_958/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.052",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.516,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_959/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39eb819afad489d6a0905a881e89e1b689e754d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_959/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.064",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.616,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_96/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_96/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2e98c10d69c458590f397da72530278e40ece2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_96/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.070",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.57,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_960/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a42a1f30b7652bc041805c0dc83434460f854e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_960/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.068",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.556,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.7_0.0_0.0_MultiDynamics_5_0.556_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_961/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..470b7b9085fb8b5196f6ca7050a7b124e2b063d9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_961/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.056",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.576,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.8_0.0_0.0_MultiDynamics_5_0.576_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_962/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3f8460b8fdd4267285ffe23001fcc435dce85d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_962/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.056",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.583,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_963/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..967c3fc1b95809539d48aecb55031ec37de7eb0f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_963/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.052",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.569,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.9_0.0_0.0_MultiDynamics_7_0.569_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_964/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d1c18f3142f7682f29704d2e1e3d03c3078ac9
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_964/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.058",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.563,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_965/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac1b01bfe8d26382acd8c579ae00b8008ae205e
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_965/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.060",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.493,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_966/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275fee0cd92ab9f182e8ea63017428bcf13dbbbd
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_966/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.070",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.616,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the blue target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.0_0.0_0.0_MultiDynamics_5_0.616_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_967/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ed646cff4b7304f5bffa7faa90070be7306c6bf
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_967/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.068",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.516,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_968/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b520bc68423dcb7061ea5648626538b30ff68eb4
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_968/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.064",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.53,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.1_0.0_0.0_MultiDynamics_6_0.530_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_969/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72024dd0359915c51070eac3662bb85944ff4472
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_969/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.050",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.576,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_97/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_97/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c941ce8399ef92a8404b05d22a5d0298b7660efc
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_97/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.066",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.53,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_970/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eb5dfe5e4354d6c934de1d2c1eef809f59b6c8a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_970/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.068",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.569,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the brown target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.9_0.0_0.0_MultiDynamics_7_0.569_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_971/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a562e3bfc512062ef53dd6d9f79de6dd84ecc7
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_971/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.058",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.493,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_972/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7bd163934e7bbfd777f4781bf98dbf06b5b225f
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_972/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.066",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.57,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the blue target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.2_0.0_0.0_MultiDynamics_4_0.570_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_973/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e045be1b6bfdbd860cfa399dc34892ba7da0e702
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_973/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.050",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.527,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the brown target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.5_0.0_0.0_MultiDynamics_3_0.527_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_974/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7be8081199314d284a58658d8f44c85d3295e78
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_974/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.056",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.536,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_975/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eef4c41966d58329a47e99986e6980c3f5e9de1
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_975/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.070",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.495,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_976/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..115d66de22fe52309096bc938d342f060a86c939
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_976/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.060",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.06,
+  "used_step_length": 0.53,
+  "used_step_height": 0.06,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.060 </HEIGHT> to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.060"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_977/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be76fbfcaf96b8e86bbffdca58534b63acbe1f99
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_977/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.056",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.597,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_978/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275f821bfe3970cb2ad883ba17d2688c7a27e536
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_978/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.058",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.516,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.5_0.0_0.0_MultiDynamics_5_0.516_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_979/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54527d9fb3dd1ab4ea9699a28fc79693c03ca1f0
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_979/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.056",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.57,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the brown target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.2_0.0_0.0_MultiDynamics_4_0.570_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_98/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_98/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..570aaf9f958583c8a5b46c191a26d0f99196ef55
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_98/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.53,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_980/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e61ee87f9dfed0bd8ce32722702678bf4772ea
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_980/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.052",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.595,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_981/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41f3396228d860753d5bf89bd7f02a729fa4562
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_981/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.064",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.527,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_1.5_0.0_0.0_MultiDynamics_3_0.527_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_982/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a85af2029d012d7b03f79758e6e3d6f387b40f6
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_982/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.058",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.554,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the brown target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_3.8_0.0_0.0_MultiDynamics_7_0.554_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_983/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b28a97f75f96d93e44d982b7c840a7c4c04a94
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_983/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.068",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.616,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_984/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ebb5f381030d7fef27cb63b08b772a289b9c40
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_984/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.070",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.07,
+  "used_step_length": 0.583,
+  "used_step_height": 0.07,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.070 </HEIGHT> to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.070"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_985/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85bdc3892f9708ad6ee49788a864c6657beb5b0d
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_985/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.056",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.477,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_986/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..483fee1e700a4fc60cbd4fefcde22d310fe34b13
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_986/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.068",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.427,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_987/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee62c18884808447fb670aca2734395458a47e25
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_987/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.066",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.066,
+  "used_step_length": 0.593,
+  "used_step_height": 0.066,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.066 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.066"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_988/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab85621a914169457c7097f657dda36e3ed9555b
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_988/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.056",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.613,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_989/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac5432e590b3da1d7940abc14f05d7b5a38ca75a
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_989/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.068",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.068,
+  "used_step_length": 0.593,
+  "used_step_height": 0.068,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.068 </HEIGHT> to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.068"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_99/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_99/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c55b34d77ea17480036c9252b982e809980d80
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_99/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.064",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.569,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_990/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..364e283327443f85dd8c3ac025d6e4d94e825aca
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_990/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.056",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.593,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_991/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5bb10441e2ebeabb136287d140076e67b6e1c3
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_991/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.058",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.556,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the blue target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.7_0.0_0.0_MultiDynamics_5_0.556_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_992/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c90210a2a9a3fc43484e69af4c6fb51dfee95674
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_992/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.054",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.054,
+  "used_step_length": 0.62,
+  "used_step_height": 0.054,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.054 </HEIGHT> to the brown target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.4_0.0_0.0_MultiDynamics_4_0.620_0.054"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_993/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d16c6f3f456c2cbe0d479a1b2b0fb84f3deb5c2
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_993/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.056",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.056,
+  "used_step_length": 0.56,
+  "used_step_height": 0.056,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.056 </HEIGHT> to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.056"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_994/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f207c1de6081c368faaf8474396ad71100d2c54
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_994/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.052",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.052,
+  "used_step_length": 0.53,
+  "used_step_height": 0.052,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.052 </HEIGHT> to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.052"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_995/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57fd516185ed0e8c2c3e9de6d743ec645b1daec
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_995/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.064",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "brown",
+  "step_length": 0.63,
+  "step_height": 0.064,
+  "used_step_length": 0.52,
+  "used_step_height": 0.064,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.064 </HEIGHT> to the brown target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/brown_2.0_0.0_0.0_MultiDynamics_4_0.520_0.064"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_996/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9a463e6a7e7efe0c409cdaa30d3b49ea253f48
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_996/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.058",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.058,
+  "used_step_length": 0.59,
+  "used_step_height": 0.058,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.058 </HEIGHT> to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.058"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_997/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5b4c365dbe60a65892329c06c46083173087a47
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_997/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.050",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.05,
+  "used_step_length": 0.62,
+  "used_step_height": 0.05,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk with a step height of <HEIGHT> 0.050 </HEIGHT> to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.050"
+}
\ No newline at end of file
diff --git a/RH5_dataset_old_target_ss_ds_merged/frames/episode_998/meta.json b/RH5_dataset_old_target_ss_ds_merged/frames/episode_998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ceae632a9b6a5001e301a1b77de49818546b73
--- /dev/null
+++ b/RH5_dataset_old_target_ss_ds_merged/frames/episode_998/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.058",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
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