diff --git a/episode_0000/frames.csv b/episode_0000/frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0e3d1872f11d7fedc0e50ee3b882b8159bfc016
--- /dev/null
+++ b/episode_0000/frames.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/left.actions.eef_pose/data.csv b/episode_0000/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f844e61b63f46a3938e26e251d6394f98a7db59
--- /dev/null
+++ b/episode_0000/left.actions.eef_pose/data.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/left.actions.joint_position/data.csv b/episode_0000/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de4269ad003c19f226b8d459d3aea9b43570d444
--- /dev/null
+++ b/episode_0000/left.actions.joint_position/data.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/left.observation.state.eef_pose/data.csv b/episode_0000/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de2b27e22808ee7cf6f1993a399585afa3e0ace0
--- /dev/null
+++ b/episode_0000/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0000/left.observation.state.joint_position/data.csv b/episode_0000/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1035bb001fb8427483b8d19c5ff372528a6123e
--- /dev/null
+++ b/episode_0000/left.observation.state.joint_position/data.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/left.observation.state/data.jsonl b/episode_0000/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c0284a3dc5be35dc439f4da69484067173bdbed
--- /dev/null
+++ b/episode_0000/left.observation.state/data.jsonl
@@ -0,0 +1,590 @@
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diff --git a/episode_0000/metadata.json b/episode_0000/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0705a7995644cc25d6af39fdb3a017cca557176d
--- /dev/null
+++ b/episode_0000/metadata.json
@@ -0,0 +1,63 @@
+{
+  "format_version": 1,
+  "episode_index": 0,
+  "task_instruction": "Pick up the bread and place it on the plate",
+  "created_at": "2026-09-17T05:24:15+0800",
+  "duration_s": 19.633,
+  "num_frames": 590,
+  "control_hz": 100.0,
+  "record_hz": 30.0,
+  "stiffness_ratio": 1,
+  "gripper_force_n": 80,
+  "gripper_speed": 0.2,
+  "teleop": {
+    "left_sm_index": 0,
+    "right_sm_index": 1,
+    "left_pos_scale": 0.001,
+    "right_pos_scale": 0.001,
+    "left_rot_scale": 0.005,
+    "right_rot_scale": 0.005,
+    "translation_frame": "base",
+    "operator_translation_signs": [
+      1.0,
+      1.0,
+      1.0
+    ],
+    "motion_threshold": 0.1,
+    "rotation_motion_threshold": 0.05,
+    "response_exponent": 2.0,
+    "workspace_limit_disabled": true
+  },
+  "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
+  "left_robot_sn": "Rizon4-063609",
+  "right_robot_sn": "Rizon4-063610",
+  "left_start_position_deg": [
+    43.32,
+    -103.05,
+    -52.6,
+    78.06,
+    -20.03,
+    31.71,
+    45.47
+  ],
+  "right_start_position_deg": [
+    -17.55,
+    -108.92,
+    52.41,
+    44.52,
+    33.43,
+    19.96,
+    -46.22
+  ],
+  "cameras": {
+    "left": "260322279602",
+    "right": "260322271470",
+    "overview": "254522075549"
+  },
+  "camera_stream": {
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "format": "color bgr8 encoded as JPEG"
+  }
+}
\ No newline at end of file
diff --git a/episode_0000/right.actions.eef_pose/data.csv b/episode_0000/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1de274a74d29cb0efc629b52bc15a10d61778011
--- /dev/null
+++ b/episode_0000/right.actions.eef_pose/data.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/right.actions.joint_position/data.csv b/episode_0000/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6bf146392a50ee99017bae348f51fc3b83ea72a
--- /dev/null
+++ b/episode_0000/right.actions.joint_position/data.csv
@@ -0,0 +1,591 @@
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diff --git a/episode_0000/right.observation.state.eef_pose/data.csv b/episode_0000/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48a838e0a6fa615f5b3981c5ee8b6b9dcbcaafe7
--- /dev/null
+++ b/episode_0000/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0000/right.observation.state.joint_position/data.csv b/episode_0000/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10865dd34454c4237f3095d259841e2a4c37186a
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diff --git a/episode_0000/right.observation.state/data.jsonl b/episode_0000/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b044acd646e53affff366fc7b7b7c77360adc7c7
--- /dev/null
+++ b/episode_0000/right.observation.state/data.jsonl
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diff --git a/episode_0004/frames.csv b/episode_0004/frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1f418ed3da2acde339df224551164de1141b9eb
--- /dev/null
+++ b/episode_0004/frames.csv
@@ -0,0 +1,431 @@
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diff --git a/episode_0004/left.actions.eef_pose/data.csv b/episode_0004/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99f057ba902da2a025dbd2fcb0d9bce3d85b9307
--- /dev/null
+++ b/episode_0004/left.actions.eef_pose/data.csv
@@ -0,0 +1,431 @@
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diff --git a/episode_0004/left.actions.joint_position/data.csv b/episode_0004/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a27232dc0e0478c88c78a962bf0481e248a7402
--- /dev/null
+++ b/episode_0004/left.actions.joint_position/data.csv
@@ -0,0 +1,431 @@
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diff --git a/episode_0004/left.observation.state.eef_pose/data.csv b/episode_0004/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28e118abc60d763ab65de0cb98b5c9103f6c5a50
--- /dev/null
+++ b/episode_0004/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0004/left.observation.state.joint_position/data.csv b/episode_0004/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..883261c1e3df1f3f2f697bd27d9af68b41b1f069
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diff --git a/episode_0004/left.observation.state/data.jsonl b/episode_0004/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71ede63510ee44776583e4993e5e63659236f881
--- /dev/null
+++ b/episode_0004/left.observation.state/data.jsonl
@@ -0,0 +1,430 @@
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diff --git a/episode_0004/metadata.json b/episode_0004/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf203f3d3c0b295e2c2684851e5ecfe3c409a87c
--- /dev/null
+++ b/episode_0004/metadata.json
@@ -0,0 +1,63 @@
+{
+  "format_version": 1,
+  "episode_index": 4,
+  "task_instruction": "Pick up the bread and place it on the plate",
+  "created_at": "2026-09-17T05:26:19+0800",
+  "duration_s": 14.3,
+  "num_frames": 430,
+  "control_hz": 100.0,
+  "record_hz": 30.0,
+  "stiffness_ratio": 1,
+  "gripper_force_n": 80,
+  "gripper_speed": 0.2,
+  "teleop": {
+    "left_sm_index": 0,
+    "right_sm_index": 1,
+    "left_pos_scale": 0.001,
+    "right_pos_scale": 0.001,
+    "left_rot_scale": 0.005,
+    "right_rot_scale": 0.005,
+    "translation_frame": "base",
+    "operator_translation_signs": [
+      1.0,
+      1.0,
+      1.0
+    ],
+    "motion_threshold": 0.1,
+    "rotation_motion_threshold": 0.05,
+    "response_exponent": 2.0,
+    "workspace_limit_disabled": true
+  },
+  "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
+  "left_robot_sn": "Rizon4-063609",
+  "right_robot_sn": "Rizon4-063610",
+  "left_start_position_deg": [
+    43.32,
+    -103.05,
+    -52.6,
+    78.06,
+    -20.03,
+    31.71,
+    45.47
+  ],
+  "right_start_position_deg": [
+    -17.55,
+    -108.92,
+    52.41,
+    44.52,
+    33.43,
+    19.96,
+    -46.22
+  ],
+  "cameras": {
+    "left": "260322279602",
+    "right": "260322271470",
+    "overview": "254522075549"
+  },
+  "camera_stream": {
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "format": "color bgr8 encoded as JPEG"
+  }
+}
\ No newline at end of file
diff --git a/episode_0004/right.actions.eef_pose/data.csv b/episode_0004/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8f4bcbc5844aca1f9e4cb223d0f52ce74a54ed3
--- /dev/null
+++ b/episode_0004/right.actions.eef_pose/data.csv
@@ -0,0 +1,431 @@
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diff --git a/episode_0004/right.actions.joint_position/data.csv b/episode_0004/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf03e7614d899441cd735cfe69e2bf7f8bf299
--- /dev/null
+++ b/episode_0004/right.actions.joint_position/data.csv
@@ -0,0 +1,431 @@
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diff --git a/episode_0004/right.observation.state.eef_pose/data.csv b/episode_0004/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddda924739f58a2235749e39f9d808005873656b
--- /dev/null
+++ b/episode_0004/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0004/right.observation.state.joint_position/data.csv b/episode_0004/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf8bbc5c9c0e2d12767cc0cc2f15e1965f56f421
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diff --git a/episode_0004/right.observation.state/data.jsonl b/episode_0004/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df3a3ccfb2428d98745a1e8e005ed55a71567729
--- /dev/null
+++ b/episode_0004/right.observation.state/data.jsonl
@@ -0,0 +1,430 @@
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diff --git a/episode_0005/frames.csv b/episode_0005/frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac954904d148c8feeab312a863c96f50c8a0cad6
--- /dev/null
+++ b/episode_0005/frames.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/left.actions.eef_pose/data.csv b/episode_0005/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a7ecb8f740d27ab140283e79e384e7084f244ae
--- /dev/null
+++ b/episode_0005/left.actions.eef_pose/data.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/left.actions.joint_position/data.csv b/episode_0005/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22447efcbb970dcfef5961be8dbb7d31f80a6672
--- /dev/null
+++ b/episode_0005/left.actions.joint_position/data.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/left.observation.state.eef_pose/data.csv b/episode_0005/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72c58286eba5b4e46649fbd6d44243643a6d1645
--- /dev/null
+++ b/episode_0005/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0005/left.observation.state.joint_position/data.csv b/episode_0005/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6df4a76aa9a07caae9150470bbc779c8d0536c2a
--- /dev/null
+++ b/episode_0005/left.observation.state.joint_position/data.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/left.observation.state/data.jsonl b/episode_0005/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b3c59b9a5d996ee7f958feefa8767a8512ca95d
--- /dev/null
+++ b/episode_0005/left.observation.state/data.jsonl
@@ -0,0 +1,500 @@
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diff --git a/episode_0005/metadata.json b/episode_0005/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d066a5d95b5150b4b4d4353c6fed65a6408a58
--- /dev/null
+++ b/episode_0005/metadata.json
@@ -0,0 +1,63 @@
+{
+  "format_version": 1,
+  "episode_index": 5,
+  "task_instruction": "Pick up the bread and place it on the plate",
+  "created_at": "2026-09-17T05:27:06+0800",
+  "duration_s": 16.633,
+  "num_frames": 500,
+  "control_hz": 100.0,
+  "record_hz": 30.0,
+  "stiffness_ratio": 1,
+  "gripper_force_n": 80,
+  "gripper_speed": 0.2,
+  "teleop": {
+    "left_sm_index": 0,
+    "right_sm_index": 1,
+    "left_pos_scale": 0.001,
+    "right_pos_scale": 0.001,
+    "left_rot_scale": 0.005,
+    "right_rot_scale": 0.005,
+    "translation_frame": "base",
+    "operator_translation_signs": [
+      1.0,
+      1.0,
+      1.0
+    ],
+    "motion_threshold": 0.1,
+    "rotation_motion_threshold": 0.05,
+    "response_exponent": 2.0,
+    "workspace_limit_disabled": true
+  },
+  "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
+  "left_robot_sn": "Rizon4-063609",
+  "right_robot_sn": "Rizon4-063610",
+  "left_start_position_deg": [
+    43.32,
+    -103.05,
+    -52.6,
+    78.06,
+    -20.03,
+    31.71,
+    45.47
+  ],
+  "right_start_position_deg": [
+    -17.55,
+    -108.92,
+    52.41,
+    44.52,
+    33.43,
+    19.96,
+    -46.22
+  ],
+  "cameras": {
+    "left": "260322279602",
+    "right": "260322271470",
+    "overview": "254522075549"
+  },
+  "camera_stream": {
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "format": "color bgr8 encoded as JPEG"
+  }
+}
\ No newline at end of file
diff --git a/episode_0005/right.actions.eef_pose/data.csv b/episode_0005/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca0dee0c91c6344072f76f559be253919848943e
--- /dev/null
+++ b/episode_0005/right.actions.eef_pose/data.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/right.actions.joint_position/data.csv b/episode_0005/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a002511f3d7c60de0aa2f9ed61ac88c43a3d0d12
--- /dev/null
+++ b/episode_0005/right.actions.joint_position/data.csv
@@ -0,0 +1,501 @@
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diff --git a/episode_0005/right.observation.state.eef_pose/data.csv b/episode_0005/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14842d7ab309e1bc6bbe42059449193139777d8a
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diff --git a/episode_0005/right.observation.state.joint_position/data.csv b/episode_0005/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52d1d233b6e8f007b6b912195ea84372490b1f1f
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diff --git a/episode_0005/right.observation.state/data.jsonl b/episode_0005/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff4b16b63a103ed59b86343a4cb87f45860eb50e
--- /dev/null
+++ b/episode_0005/right.observation.state/data.jsonl
@@ -0,0 +1,500 @@
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diff --git a/episode_0006/frames.csv b/episode_0006/frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75cb948dca5fb2b1ca4f652b053667c07b5f6ce7
--- /dev/null
+++ b/episode_0006/frames.csv
@@ -0,0 +1,498 @@
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diff --git a/episode_0006/metadata.json b/episode_0006/metadata.json
new file mode 100644
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--- /dev/null
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+{
+  "format_version": 1,
+  "episode_index": 6,
+  "task_instruction": "Pick up the bread and place it on the plate",
+  "created_at": "2026-09-17T05:27:28+0800",
+  "duration_s": 16.533,
+  "num_frames": 497,
+  "control_hz": 100.0,
+  "record_hz": 30.0,
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+  "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
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+  "right_robot_sn": "Rizon4-063610",
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+    78.06,
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+    45.47
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+  "camera_stream": {
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "format": "color bgr8 encoded as JPEG"
+  }
+}
\ No newline at end of file
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index 0000000000000000000000000000000000000000..ced4951de474e58928cb946c774de505875ab678
--- /dev/null
+++ b/episode_0014/frames.csv
@@ -0,0 +1,415 @@
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diff --git a/episode_0014/left.actions.eef_pose/data.csv b/episode_0014/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b0daf43d1837649b8408b2dd8478b104f9b3882
--- /dev/null
+++ b/episode_0014/left.actions.eef_pose/data.csv
@@ -0,0 +1,415 @@
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diff --git a/episode_0014/left.actions.joint_position/data.csv b/episode_0014/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afcb30b92879047befe5b25b45224dac5b173096
--- /dev/null
+++ b/episode_0014/left.actions.joint_position/data.csv
@@ -0,0 +1,415 @@
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diff --git a/episode_0014/left.observation.state.eef_pose/data.csv b/episode_0014/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab6f693c4c96c61220c3fafefcd0435e2b7231b0
--- /dev/null
+++ b/episode_0014/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0014/left.observation.state.joint_position/data.csv b/episode_0014/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..228e97092c3dcf19735179dfcfdf10fd1712826e
--- /dev/null
+++ b/episode_0014/left.observation.state.joint_position/data.csv
@@ -0,0 +1,415 @@
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diff --git a/episode_0014/left.observation.state/data.jsonl b/episode_0014/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a6262ee0c4df565891128e2e238b97c9e04e415
--- /dev/null
+++ b/episode_0014/left.observation.state/data.jsonl
@@ -0,0 +1,414 @@
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diff --git a/episode_0014/metadata.json b/episode_0014/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..029ba549e9cf617757b6e2b05495484da56dcc24
--- /dev/null
+++ b/episode_0014/metadata.json
@@ -0,0 +1,63 @@
+{
+  "format_version": 1,
+  "episode_index": 14,
+  "task_instruction": "Pick up the bread and place it on the plate",
+  "created_at": "2026-09-17T05:30:33+0800",
+  "duration_s": 13.766,
+  "num_frames": 414,
+  "control_hz": 100.0,
+  "record_hz": 30.0,
+  "stiffness_ratio": 1,
+  "gripper_force_n": 80,
+  "gripper_speed": 0.2,
+  "teleop": {
+    "left_sm_index": 0,
+    "right_sm_index": 1,
+    "left_pos_scale": 0.001,
+    "right_pos_scale": 0.001,
+    "left_rot_scale": 0.005,
+    "right_rot_scale": 0.005,
+    "translation_frame": "base",
+    "operator_translation_signs": [
+      1.0,
+      1.0,
+      1.0
+    ],
+    "motion_threshold": 0.1,
+    "rotation_motion_threshold": 0.05,
+    "response_exponent": 2.0,
+    "workspace_limit_disabled": true
+  },
+  "synchronization": "latest camera and robot snapshots sampled on the 30 Hz recorder clock",
+  "left_robot_sn": "Rizon4-063609",
+  "right_robot_sn": "Rizon4-063610",
+  "left_start_position_deg": [
+    43.32,
+    -103.05,
+    -52.6,
+    78.06,
+    -20.03,
+    31.71,
+    45.47
+  ],
+  "right_start_position_deg": [
+    -17.55,
+    -108.92,
+    52.41,
+    44.52,
+    33.43,
+    19.96,
+    -46.22
+  ],
+  "cameras": {
+    "left": "260322279602",
+    "right": "260322271470",
+    "overview": "254522075549"
+  },
+  "camera_stream": {
+    "width": 640,
+    "height": 480,
+    "fps": 30,
+    "format": "color bgr8 encoded as JPEG"
+  }
+}
\ No newline at end of file
diff --git a/episode_0014/right.actions.eef_pose/data.csv b/episode_0014/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a57d9011202d13f282240761e83d6622ce15d7ee
--- /dev/null
+++ b/episode_0014/right.actions.eef_pose/data.csv
@@ -0,0 +1,415 @@
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diff --git a/episode_0014/right.actions.joint_position/data.csv b/episode_0014/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02a5b98a2421951f0acb3f8f9484ce1222e74f4b
--- /dev/null
+++ b/episode_0014/right.actions.joint_position/data.csv
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diff --git a/episode_0014/right.observation.state.eef_pose/data.csv b/episode_0014/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f18a8104e9ed3c88c39deb3edc258ebed2d7af1
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diff --git a/episode_0014/right.observation.state.joint_position/data.csv b/episode_0014/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..acd8647acebdf94748fba3f82d8434e142fb9ce2
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diff --git a/episode_0014/right.observation.state/data.jsonl b/episode_0014/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..362894a436e0c3ed2f35b692118acd69e4d3b5ca
--- /dev/null
+++ b/episode_0014/right.observation.state/data.jsonl
@@ -0,0 +1,414 @@
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