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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000036.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000036.json
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000111.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000111.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000117.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000117.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000148.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000148.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000212.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000212.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000214.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000214.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000309.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000309.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000316.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000316.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000327.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000327.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000328.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000328.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000332.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000332.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000333.json b/demos/log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset/episode_0000/robot/000333.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000000.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000000.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000002.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000002.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000010.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000010.json
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000013.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000013.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000017.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000017.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000018.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000018.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000113.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000113.json
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000124.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000124.json
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000126.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000126.json
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000132.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000132.json
new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000169.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000169.json
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000229.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000229.json
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000230.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000230.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000232.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000232.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000233.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/episode_0000/robot/000233.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/refine_meta.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/refine_meta.json
new file mode 100644
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diff --git a/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/trim_release_meta.json b/demos/log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease/trim_release_meta.json
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