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index 8e72db1d64d76a43bab883a4b4d01871d8f5ee0d..f4bc30f3b9c754d174fffed625f330d1ff2c7fd4 100644
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+public/samples/s0222_17f5f0f9_l_1069/left_t-15.jpg filter=lfs diff=lfs merge=lfs -text
+public/samples/s0222_17f5f0f9_l_1069/left_t-30.jpg filter=lfs diff=lfs merge=lfs -text
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+   30
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+  "freeze_frame": 43,
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+   ],
+   [
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
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+    0.3237,
+    0.64887,
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+    -0.15802,
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+   ],
+   [
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
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+    -0.15802,
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+   [
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
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+   [
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+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
+    -0.7087,
+    0.00074,
+    0.58293,
+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
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+    0.16414,
+    0.53844,
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+    0.00074,
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
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+    1.91132,
+    1.86224,
+    0.16414,
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+    0.00074,
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+    0.3237,
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+    -0.15802,
+    0.52922,
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+   ],
+   [
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+    1.91132,
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+    0.16414,
+    0.53844,
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+    0.00074,
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
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+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
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+    0.00074,
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+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
+    -0.84369,
+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
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+    0.00074,
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+    0.3237,
+    0.64887,
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+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
+    -0.84369,
+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
+    -0.7087,
+    0.00074,
+    0.58293,
+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
+    -0.84369,
+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
+    -0.7087,
+    0.00074,
+    0.58293,
+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ],
+   [
+    -0.84369,
+    1.91132,
+    1.86224,
+    0.16414,
+    0.53844,
+    -0.7087,
+    0.00074,
+    0.58293,
+    0.3237,
+    0.64887,
+    -0.16869,
+    -0.15802,
+    0.52922,
+    0.00949
+   ]
+  ],
+  "state_t": [
+   -0.79442,
+   1.85798,
+   1.61803,
+   0.37175,
+   0.57698,
+   -0.92908,
+   0.7616,
+   0.58118,
+   0.2821,
+   0.59834,
+   -0.11082,
+   -0.16041,
+   0.53235,
+   0.04872
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.1 cm forward, -2.1 cm to the robot's left and +4.0 cm up from where it is now (path length 3.4 cm); in the top camera that is +19 px right and -12 px down. Gripper command: now 0.76 open; starts closing at +0.13 s and is shut (0.00) at +1.43 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5799,
+    -0.1557,
+    1.1457
+   ],
+   "grasp_site_now_uv": [
+    407.7,
+    153.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5691,
+    -0.177,
+    1.186
+   ],
+   "grasp_site_at_shut_uv": [
+    426.3,
+    142.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 43,
+   "path_len_cm": 3.4,
+   "path_uv_every_3_frames": [
+    [
+     413.5,
+     140.7
+    ],
+    [
+     415.2,
+     140.5
+    ],
+    [
+     416.7,
+     140.9
+    ],
+    [
+     418.8,
+     143.5
+    ],
+    [
+     419.6,
+     144.1
+    ],
+    [
+     420.3,
+     145.2
+    ],
+    [
+     421.7,
+     145.0
+    ],
+    [
+     423.6,
+     145.4
+    ],
+    [
+     424.5,
+     145.0
+    ],
+    [
+     424.9,
+     144.2
+    ],
+    [
+     425.3,
+     144.2
+    ],
+    [
+     425.5,
+     144.4
+    ],
+    [
+     425.5,
+     144.2
+    ],
+    [
+     425.7,
+     142.7
+    ],
+    [
+     426.2,
+     142.2
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ],
+    [
+     426.3,
+     142.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0178_def1f3a4_l_3806/sample.json b/public/samples/s0178_def1f3a4_l_3806/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c0862390dd13bc2b6a6c07d8e7717aa75d53966
--- /dev/null
+++ b/public/samples/s0178_def1f3a4_l_3806/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0178_def1f3a4_l_3806",
+ "task": "pack_the_luggage",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 53,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    0.41879,
+    1.80289,
+    1.66681,
+    -0.18132,
+    0.88362,
+    -0.40352,
+    0.99884,
+    0.39884,
+    1.52574,
+    0.65243,
+    0.78349,
+    -0.47746,
+    -0.22451,
+    0.0
+   ],
+   [
+    0.41879,
+    1.80289,
+    1.66681,
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+    0.88362,
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+    0.99884,
+    0.39884,
+    1.52574,
+    0.65243,
+    0.78349,
+    -0.47746,
+    -0.22451,
+    0.0
+   ],
+   [
+    0.41686,
+    1.79597,
+    1.63764,
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+    0.89988,
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+    0.99986,
+    0.39884,
+    1.52599,
+    0.65085,
+    0.78554,
+    -0.47788,
+    -0.22537,
+    0.0
+   ],
+   [
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+    1.52742,
+    0.65046,
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+    0.0
+   ],
+   [
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+    1.80077,
+    1.61999,
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+    1.0,
+    0.39884,
+    1.5299,
+    0.65041,
+    0.79175,
+    -0.48024,
+    -0.2237,
+    0.0
+   ],
+   [
+    0.38331,
+    1.80701,
+    1.61415,
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+    0.91831,
+    -0.43188,
+    1.0,
+    0.39884,
+    1.53079,
+    0.65041,
+    0.79482,
+    -0.47881,
+    -0.22347,
+    0.0
+   ],
+   [
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+    1.81374,
+    1.60709,
+    -0.1506,
+    0.91917,
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+    1.0,
+    0.39884,
+    1.53147,
+    0.6506,
+    0.79616,
+    -0.47537,
+    -0.22384,
+    0.0
+   ],
+   [
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+    1.82263,
+    1.60429,
+    -0.14672,
+    0.92522,
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+    1.0,
+    0.39884,
+    1.53117,
+    0.64909,
+    0.79671,
+    -0.47129,
+    -0.22328,
+    0.0
+   ],
+   [
+    0.33388,
+    1.84396,
+    1.61295,
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+    0.93977,
+    -0.41576,
+    0.98904,
+    0.39884,
+    1.52845,
+    0.64775,
+    0.79464,
+    -0.46618,
+    -0.22694,
+    0.0
+   ],
+   [
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+    1.86131,
+    1.6286,
+    -0.16348,
+    0.95157,
+    -0.40536,
+    0.97535,
+    0.39807,
+    1.52466,
+    0.64528,
+    0.79384,
+    -0.46037,
+    -0.23373,
+    0.0
+   ],
+   [
+    0.28972,
+    1.8792,
+    1.6459,
+    -0.16808,
+    0.96302,
+    -0.3962,
+    0.95747,
+    0.39409,
+    1.51863,
+    0.64114,
+    0.78813,
+    -0.45676,
+    -0.2411,
+    0.0
+   ],
+   [
+    0.26018,
+    1.8962,
+    1.66705,
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+    0.96522,
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+    0.92922,
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+    1.51327,
+    0.63794,
+    0.78401,
+    -0.45574,
+    -0.2493,
+    0.0
+   ],
+   [
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+    1.91712,
+    1.69807,
+    -0.21412,
+    0.96415,
+    -0.33964,
+    0.91007,
+    0.38244,
+    1.50666,
+    0.63274,
+    0.78062,
+    -0.45599,
+    -0.25743,
+    0.0
+   ],
+   [
+    0.18867,
+    1.93987,
+    1.73128,
+    -0.24823,
+    0.9621,
+    -0.30611,
+    0.89398,
+    0.37032,
+    1.49969,
+    0.62672,
+    0.77943,
+    -0.45564,
+    -0.26266,
+    0.0
+   ],
+   [
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+    1.96342,
+    1.76554,
+    -0.28299,
+    0.96261,
+    -0.27296,
+    0.87197,
+    0.3575,
+    1.49288,
+    0.6206,
+    0.77928,
+    -0.45675,
+    -0.26715,
+    0.0
+   ],
+   [
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+    1.99129,
+    1.80069,
+    -0.31417,
+    0.96478,
+    -0.24792,
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+    0.34113,
+    1.48397,
+    0.61639,
+    0.77562,
+    -0.46362,
+    -0.27327,
+    0.0
+   ],
+   [
+    0.07952,
+    2.01625,
+    1.82906,
+    -0.33897,
+    0.97138,
+    -0.226,
+    0.8283,
+    0.32336,
+    1.47481,
+    0.60857,
+    0.77152,
+    -0.47635,
+    -0.28132,
+    0.0
+   ],
+   [
+    0.04714,
+    2.04161,
+    1.85619,
+    -0.35933,
+    0.97623,
+    -0.20485,
+    0.81035,
+    0.30369,
+    1.46197,
+    0.60012,
+    0.76679,
+    -0.49021,
+    -0.29192,
+    0.0
+   ],
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+    0.0
+   ],
+   [
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+    -0.45668,
+    0.0
+   ],
+   [
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+    1.63326,
+    0.87654,
+    0.77874,
+    -0.93674,
+    -0.45668,
+    0.0
+   ],
+   [
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+    1.0131,
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+    0.55549,
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+    0.87654,
+    0.77874,
+    -0.93674,
+    -0.45668,
+    0.0
+   ]
+  ],
+  "state_t": [
+   0.42325,
+   1.86408,
+   1.85454,
+   -0.42897,
+   0.56821,
+   -0.09289,
+   0.94439,
+   0.44995,
+   1.53944,
+   0.62505,
+   0.7517,
+   -0.54723,
+   -0.20047,
+   0.00453
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.0 cm forward, -39.4 cm to the robot's left and -15.1 cm up from where it is now (path length 41.5 cm); in the top camera that is +175 px right and +47 px down. Gripper command: now 1.00 open; starts closing at +0.20 s and is shut (0.56) at +1.77 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7812,
+    0.4478,
+    1.0821
+   ],
+   "grasp_site_now_uv": [
+    126.4,
+    116.2
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7709,
+    0.0535,
+    0.9314
+   ],
+   "grasp_site_at_shut_uv": [
+    301.7,
+    163.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 6,
+   "close_done_frame": 53,
+   "path_len_cm": 41.5,
+   "path_uv_every_3_frames": [
+    [
+     146.4,
+     117.7
+    ],
+    [
+     151.2,
+     120.0
+    ],
+    [
+     164.6,
+     124.7
+    ],
+    [
+     179.4,
+     126.8
+    ],
+    [
+     199.9,
+     125.7
+    ],
+    [
+     225.2,
+     127.0
+    ],
+    [
+     248.3,
+     130.8
+    ],
+    [
+     267.4,
+     137.3
+    ],
+    [
+     281.8,
+     145.5
+    ],
+    [
+     289.7,
+     152.2
+    ],
+    [
+     291.0,
+     154.4
+    ],
+    [
+     290.7,
+     154.1
+    ],
+    [
+     291.6,
+     154.1
+    ],
+    [
+     293.2,
+     154.5
+    ],
+    [
+     296.9,
+     157.6
+    ],
+    [
+     300.9,
+     161.6
+    ],
+    [
+     302.2,
+     163.0
+    ],
+    [
+     302.0,
+     163.7
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ],
+    [
+     301.7,
+     163.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
diff --git a/public/samples/s0178_def1f3a4_l_3806/top_t-15.jpg b/public/samples/s0178_def1f3a4_l_3806/top_t-15.jpg
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diff --git a/public/samples/s0178_def1f3a4_l_3806/top_t-30.jpg b/public/samples/s0178_def1f3a4_l_3806/top_t-30.jpg
new file mode 100644
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diff --git a/public/samples/s0178_def1f3a4_l_3806/top_t.jpg b/public/samples/s0178_def1f3a4_l_3806/top_t.jpg
new file mode 100644
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+{
+ "id": "s0179_a921b7fb_r_2469",
+ "task": "put_the_plastic_bottles_in_the_bin",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 42,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    1.40563,
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+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+   ],
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+    1.39821,
+    1.40563,
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+   [
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+    1.39821,
+    1.40563,
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+    -0.07363,
+    0.36346,
+    0.26506
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+   [
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+    1.40219,
+    -0.61871,
+    0.19307,
+    -0.57553,
+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
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+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
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+   [
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+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
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+    0.0,
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+    1.39821,
+    1.40563,
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+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
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+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
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+   [
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+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
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+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+    1.36068,
+    1.40219,
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+    0.0,
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+    1.39821,
+    1.40563,
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+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
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+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
+    -0.57553,
+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
+    -0.37799,
+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
+    -0.57553,
+    0.0,
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+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ],
+   [
+    -0.37799,
+    1.36068,
+    1.40219,
+    -0.61871,
+    0.19307,
+    -0.57553,
+    0.0,
+    0.71959,
+    1.39821,
+    1.40563,
+    -0.47151,
+    -0.07363,
+    0.36346,
+    0.26506
+   ]
+  ],
+  "state_t": [
+   -0.33398,
+   1.39143,
+   1.55737,
+   -0.81922,
+   0.21267,
+   -0.4736,
+   0.06781,
+   0.81159,
+   1.23388,
+   1.12287,
+   0.33894,
+   -0.16804,
+   0.07649,
+   0.9884
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +5.3 cm forward, -2.6 cm to the robot's left and -12.3 cm up from where it is now (path length 31.0 cm); in the top camera that is +14 px right and +20 px down. Gripper command: now 0.99 open; starts closing at +0.07 s and is shut (0.27) at +1.40 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5198,
+    0.0129,
+    1.2002
+   ],
+   "grasp_site_now_uv": [
+    315.8,
+    163.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5729,
+    -0.0126,
+    1.0769
+   ],
+   "grasp_site_at_shut_uv": [
+    329.8,
+    183.6
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 2,
+   "close_done_frame": 42,
+   "path_len_cm": 31.0,
+   "path_uv_every_3_frames": [
+    [
+     324.8,
+     156.4
+    ],
+    [
+     331.4,
+     147.6
+    ],
+    [
+     336.9,
+     137.4
+    ],
+    [
+     344.3,
+     129.8
+    ],
+    [
+     351.0,
+     125.6
+    ],
+    [
+     359.2,
+     125.3
+    ],
+    [
+     371.3,
+     127.4
+    ],
+    [
+     375.2,
+     131.9
+    ],
+    [
+     371.0,
+     137.1
+    ],
+    [
+     359.3,
+     144.2
+    ],
+    [
+     345.2,
+     154.7
+    ],
+    [
+     338.8,
+     164.1
+    ],
+    [
+     336.5,
+     171.5
+    ],
+    [
+     332.3,
+     178.3
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ],
+    [
+     329.8,
+     183.6
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0180_2b721695_r_2425/sample.json b/public/samples/s0180_2b721695_r_2425/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aaa60e5ca0775a306639472cbf79bcde2e4a201
--- /dev/null
+++ b/public/samples/s0180_2b721695_r_2425/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0180_2b721695_r_2425",
+ "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 25,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.74705,
+    0.77313,
+    0.43565,
+    -0.2393,
+    0.16874,
+    -2.08775,
+    0.0,
+    0.53231,
+    1.36822,
+    0.70551,
+    0.39112,
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+    0.85906,
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+   ],
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+    0.85751,
+    0.98247
+   ],
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+   [
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+    0.47079,
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+    0.86971,
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+   ],
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+   [
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+    1.51088,
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+   ],
+   [
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+   ],
+   [
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+    0.88049,
+    0.45937
+   ],
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+   ],
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+   ],
+   [
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+    1.54163,
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+    0.53995,
+    -0.50931,
+    0.8805,
+    0.25769
+   ],
+   [
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+    0.81755,
+    0.53844,
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+   ],
+   [
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+    1.55079,
+    0.82672,
+    0.53691,
+    -0.50621,
+    0.8805,
+    0.12831
+   ],
+   [
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+    0.0,
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+    1.55389,
+    0.82681,
+    0.53993,
+    -0.50318,
+    0.8881,
+    0.09095
+   ],
+   [
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+    0.44022,
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+    0.19482,
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+    1.55544,
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+   ],
+   [
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+   ],
+   [
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+    1.55395,
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+    0.57211,
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+    0.90198,
+    0.01429
+   ],
+   [
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+    0.80689,
+    0.57211,
+    -0.4694,
+    0.90198,
+    0.01429
+   ]
+  ],
+  "state_t": [
+   -0.74216,
+   0.7929,
+   0.4015,
+   -0.24662,
+   0.17529,
+   -2.00446,
+   0.00898,
+   0.5312,
+   1.3426,
+   0.71088,
+   0.25998,
+   -0.37976,
+   0.83867,
+   0.98158
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.3 cm forward, +2.7 cm to the robot's left and +2.6 cm up from where it is now (path length 7.2 cm); in the top camera that is -13 px right and -24 px down. Gripper command: now 0.98 open; starts closing at +0.10 s and is shut (0.01) at +0.83 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5736,
+    -0.0482,
+    0.9407
+   ],
+   "grasp_site_now_uv": [
+    333.3,
+    222.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6169,
+    -0.0217,
+    0.9662
+   ],
+   "grasp_site_at_shut_uv": [
+    320.5,
+    198.3
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 3,
+   "close_done_frame": 25,
+   "path_len_cm": 7.2,
+   "path_uv_every_3_frames": [
+    [
+     328.0,
+     217.4
+    ],
+    [
+     324.0,
+     217.3
+    ],
+    [
+     320.7,
+     216.0
+    ],
+    [
+     317.2,
+     213.1
+    ],
+    [
+     315.0,
+     208.3
+    ],
+    [
+     315.0,
+     203.8
+    ],
+    [
+     315.4,
+     201.1
+    ],
+    [
+     317.7,
+     199.9
+    ],
+    [
+     320.2,
+     199.0
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ],
+    [
+     320.5,
+     198.3
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+{
+ "id": "s0181_c414104e_l_457",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
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+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 35,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
+    0.0
+   ],
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+   [
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+    -0.78998,
+    -0.16875,
+    0.48169,
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+   [
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+    1.66445,
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+    -0.27457,
+    0.2148,
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+    0.00291,
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+    0.79922,
+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
+    0.0
+   ],
+   [
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+    0.96638,
+    -0.27457,
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+    0.00291,
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+    -0.78998,
+    -0.16875,
+    0.48169,
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+   [
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+    1.66445,
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+    -0.27457,
+    0.2148,
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+    0.79922,
+    1.00933,
+    -0.78998,
+    -0.16875,
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+   ],
+   [
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+    1.66445,
+    0.96638,
+    -0.27457,
+    0.2148,
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+    0.00291,
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+    0.79922,
+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
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+   [
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+    1.66445,
+    0.96638,
+    -0.27457,
+    0.2148,
+    0.59673,
+    0.00291,
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+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
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+   ],
+   [
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+    1.66445,
+    0.96638,
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+   [
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+    1.66445,
+    0.96638,
+    -0.27457,
+    0.2148,
+    0.59673,
+    0.00291,
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+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
+    0.0
+   ],
+   [
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+    1.66445,
+    0.96638,
+    -0.27457,
+    0.2148,
+    0.59673,
+    0.00291,
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+    0.79922,
+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
+    0.0
+   ],
+   [
+    -1.08158,
+    1.66445,
+    0.96638,
+    -0.27457,
+    0.2148,
+    0.59673,
+    0.00291,
+    -0.21936,
+    0.79922,
+    1.00933,
+    -0.78998,
+    -0.16875,
+    0.48169,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -1.1305,
+   1.64626,
+   1.05879,
+   -0.53159,
+   0.21229,
+   0.52815,
+   0.95266,
+   -0.2142,
+   0.91192,
+   1.0275,
+   -0.69753,
+   -0.27333,
+   0.54036,
+   0.01248
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.8 cm forward, -1.5 cm to the robot's left and -0.8 cm up from where it is now (path length 10.9 cm); in the top camera that is +6 px right and -12 px down. Gripper command: now 0.96 open; starts closing at +0.00 s and is shut (0.00) at +1.17 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.3829,
+    -0.0508,
+    0.8253
+   ],
+   "grasp_site_now_uv": [
+    351.2,
+    330.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4114,
+    -0.0655,
+    0.8169
+   ],
+   "grasp_site_at_shut_uv": [
+    357.5,
+    319.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 35,
+   "path_len_cm": 10.9,
+   "path_uv_every_3_frames": [
+    [
+     357.0,
+     346.1
+    ],
+    [
+     355.5,
+     348.0
+    ],
+    [
+     354.3,
+     340.2
+    ],
+    [
+     352.8,
+     336.6
+    ],
+    [
+     353.4,
+     332.4
+    ],
+    [
+     354.6,
+     330.7
+    ],
+    [
+     357.1,
+     331.9
+    ],
+    [
+     359.5,
+     329.9
+    ],
+    [
+     358.0,
+     327.0
+    ],
+    [
+     356.7,
+     326.5
+    ],
+    [
+     356.9,
+     326.2
+    ],
+    [
+     358.3,
+     323.2
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ],
+    [
+     357.5,
+     319.1
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0182_f200079e_l_2586/sample.json b/public/samples/s0182_f200079e_l_2586/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd71c7a176d2fc59fd78f50ddb4e4f16552ce40f
--- /dev/null
+++ b/public/samples/s0182_f200079e_l_2586/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0182_f200079e_l_2586",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 52,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.23777,
+    2.34702,
+    2.08164,
+    -0.33599,
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+    2.25483,
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+    0.44775,
+    0.27637
+   ],
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+    2.27925,
+    2.01405,
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+    -0.30072,
+    0.46311,
+    0.45907
+   ],
+   [
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+    2.32559,
+    2.05873,
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+    0.68416,
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+    0.98904,
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+    2.28709,
+    2.02019,
+    -0.33456,
+    -0.31129,
+    0.49363,
+    0.51296
+   ],
+   [
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+    2.28868,
+    2.02329,
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+   ],
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+    2.01573,
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+   ],
+   [
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+   ],
+   [
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+    2.24285,
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+   ],
+   [
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+   [
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+   ],
+   [
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+    0.48483,
+    0.87724
+   ],
+   [
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+    2.16617,
+    1.99111,
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+    -0.2777,
+    0.47259,
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+   ],
+   [
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+   ],
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+    0.87728
+   ],
+   [
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+    0.43103,
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+   ],
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+    0.85769
+   ],
+   [
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+    2.21186,
+    1.96192,
+    -0.3037,
+    -0.30816,
+    0.43866,
+    0.84671
+   ],
+   [
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+    1.85897,
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+    0.98904,
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+    2.22415,
+    1.96955,
+    -0.30221,
+    -0.31744,
+    0.44783,
+    0.83793
+   ],
+   [
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+    2.24403,
+    1.87133,
+    -0.30831,
+    0.65961,
+    -0.78385,
+    0.98904,
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+    2.24553,
+    1.97419,
+    -0.30371,
+    -0.32664,
+    0.45551,
+    0.81831
+   ],
+   [
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+    1.88512,
+    -0.31592,
+    0.65506,
+    -0.78538,
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+   ],
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+    0.0
+   ],
+   [
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+    2.14474,
+    1.77962,
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+    -0.38827,
+    0.43873,
+    0.0
+   ],
+   [
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+    2.05093,
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+    0.0,
+    0.25464,
+    2.14474,
+    1.77962,
+    -0.5062,
+    -0.38827,
+    0.43873,
+    0.0
+   ],
+   [
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+    2.44825,
+    2.05093,
+    -0.36207,
+    0.67187,
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+    0.0,
+    0.25464,
+    2.14474,
+    1.77962,
+    -0.5062,
+    -0.38827,
+    0.43873,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.25578,
+   2.323,
+   2.03231,
+   -0.46407,
+   0.60407,
+   -0.77573,
+   0.91514,
+   0.28248,
+   2.1788,
+   1.93389,
+   -0.52625,
+   -0.30957,
+   0.37098,
+   0.13296
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.6 cm forward, -0.3 cm to the robot's left and -4.7 cm up from where it is now (path length 14.0 cm); in the top camera that is +2 px right and +8 px down. Gripper command: now 0.99 open; starts closing at +1.07 s and is shut (0.00) at +1.73 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.8164,
+    0.0627,
+    0.8975
+   ],
+   "grasp_site_now_uv": [
+    297.1,
+    150.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.832,
+    0.0597,
+    0.8507
+   ],
+   "grasp_site_at_shut_uv": [
+    299.4,
+    158.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 32,
+   "close_done_frame": 52,
+   "path_len_cm": 14.0,
+   "path_uv_every_3_frames": [
+    [
+     298.6,
+     134.9
+    ],
+    [
+     298.0,
+     136.0
+    ],
+    [
+     296.5,
+     140.2
+    ],
+    [
+     294.9,
+     145.3
+    ],
+    [
+     293.5,
+     149.4
+    ],
+    [
+     293.6,
+     151.7
+    ],
+    [
+     294.4,
+     149.9
+    ],
+    [
+     295.2,
+     150.3
+    ],
+    [
+     295.9,
+     150.2
+    ],
+    [
+     296.2,
+     151.6
+    ],
+    [
+     296.6,
+     153.4
+    ],
+    [
+     296.7,
+     155.4
+    ],
+    [
+     297.1,
+     159.1
+    ],
+    [
+     297.8,
+     160.4
+    ],
+    [
+     298.1,
+     160.4
+    ],
+    [
+     298.8,
+     159.8
+    ],
+    [
+     299.0,
+     159.7
+    ],
+    [
+     299.3,
+     158.7
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ],
+    [
+     299.4,
+     158.1
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+{
+ "id": "s0183_8e282731_l_2431",
+ "task": "put_the_plastic_bottles_in_the_bin",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
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+   30
+  ],
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+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
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+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
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+  "horizon": 120,
+  "freeze_frame": 22,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ],
+   [
+    -0.1487,
+    1.57674,
+    1.74456,
+    -0.63737,
+    -0.25735,
+    0.06728,
+    0.62219,
+    0.06925,
+    1.14973,
+    1.04244,
+    -0.37736,
+    -0.50544,
+    0.51589,
+    0.99316
+   ]
+  ],
+  "state_t": [
+   -0.1379,
+   1.59247,
+   1.77176,
+   -0.70745,
+   -0.13714,
+   0.25006,
+   0.99467,
+   0.06313,
+   1.16979,
+   1.01568,
+   -0.35763,
+   -0.49802,
+   0.55982,
+   0.99169
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.3 cm forward, +1.5 cm to the robot's left and +1.2 cm up from where it is now (path length 8.6 cm); in the top camera that is -8 px right and -5 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.62) at +0.73 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7167,
+    0.269,
+    1.1085
+   ],
+   "grasp_site_now_uv": [
+    199.5,
+    131.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7195,
+    0.2838,
+    1.1202
+   ],
+   "grasp_site_at_shut_uv": [
+    191.3,
+    126.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 5,
+   "close_done_frame": 22,
+   "path_len_cm": 8.6,
+   "path_uv_every_3_frames": [
+    [
+     190.6,
+     119.5
+    ],
+    [
+     183.9,
+     114.2
+    ],
+    [
+     179.6,
+     112.8
+    ],
+    [
+     179.6,
+     112.9
+    ],
+    [
+     182.0,
+     113.5
+    ],
+    [
+     183.3,
+     116.0
+    ],
+    [
+     188.0,
+     121.2
+    ],
+    [
+     191.4,
+     125.7
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ],
+    [
+     191.3,
+     126.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0184_d8a035dc_l_237/sample.json b/public/samples/s0184_d8a035dc_l_237/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bda4d5e1ba73ca922824943a0eb3cd6e7207519
--- /dev/null
+++ b/public/samples/s0184_d8a035dc_l_237/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0184_d8a035dc_l_237",
+ "task": "unload_the_bowls_from_the_dish_rack",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 110,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.26384,
+    0.54453,
+    0.85599,
+    -0.51849,
+    0.34036,
+    -0.43102,
+    0.95626,
+    0.60891,
+    0.77469,
+    0.79477,
+    -0.07056,
+    -0.53235,
+    0.38356,
+    0.0
+   ],
+   [
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+    0.37243,
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+    0.77314,
+    0.76727,
+    -0.07512,
+    -0.52622,
+    0.37894,
+    0.0
+   ],
+   [
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+    0.55065,
+    0.8453,
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+    0.38794,
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+    0.93873,
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+    0.76553,
+    0.75636,
+    -0.0782,
+    -0.51249,
+    0.37282,
+    0.0
+   ],
+   [
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+    0.36516,
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+   ],
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+    0.72424,
+    -0.08279,
+    -0.45428,
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+    0.0
+   ],
+   [
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+    0.0
+   ],
+   [
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+    0.45397,
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+    0.75168,
+    0.7103,
+    -0.09351,
+    -0.37181,
+    0.33611,
+    0.0
+   ],
+   [
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+    0.81,
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+    0.75317,
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+    -0.11331,
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+   ],
+   [
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+    0.57826,
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+    -0.12111,
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+    0.0
+   ],
+   [
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+    0.77754,
+    0.69951,
+    -0.1303,
+    -0.27795,
+    0.29778,
+    0.0
+   ],
+   [
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+    0.87566,
+    0.79139,
+    0.6995,
+    -0.14102,
+    -0.21843,
+    0.28848,
+    0.0
+   ],
+   [
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+    0.59972,
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+    0.0
+   ],
+   [
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+    0.78696,
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+    0.50313,
+    -0.4081,
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+    0.70255,
+    -0.14573,
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+    0.0
+   ],
+   [
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+   ],
+   [
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+    0.71324,
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+    0.25776,
+    0.0
+   ],
+   [
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+    0.88949,
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+    -0.13347,
+    -0.0601,
+    0.24404,
+    0.0
+   ],
+   [
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+    0.77928,
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+    0.93223,
+    0.7407,
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+    0.0
+   ],
+   [
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+    1.11473,
+    0.95847,
+    0.7561,
+    -0.14413,
+    -0.00342,
+    0.23016,
+    0.0
+   ],
+   [
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+    0.78845,
+    -0.53688,
+    0.52608,
+    -0.38811,
+    0.85324,
+    1.13646,
+    0.98,
+    0.76992,
+    -0.14723,
+    0.03186,
+    0.20884,
+    0.0
+   ],
+   [
+    -0.26995,
+    0.68104,
+    0.78998,
+    -0.53537,
+    0.52919,
+    -0.38658,
+    0.85318,
+    1.15642,
+    1.02577,
+    0.79739,
+    -0.15182,
+    0.05347,
+    0.19951,
+    0.0
+   ],
+   [
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+    0.68412,
+    0.79152,
+    -0.53688,
+    0.52467,
+    -0.38049,
+    0.85101,
+    1.19155,
+    1.04141,
+    0.80982,
+    -0.15186,
+    0.08558,
+    0.18423,
+    0.0
+   ],
+   [
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+    0.69327,
+    0.79609,
+    -0.53993,
+    0.52158,
+    -0.37435,
+    0.84882,
+    1.20405,
+    1.0598,
+    0.82057,
+    -0.15186,
+    0.09501,
+    0.178,
+    0.0
+   ],
+   [
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+    0.69791,
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+   ],
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+   ],
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+    0.15182,
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+   ],
+   [
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+    0.0,
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+    1.45583,
+    1.12304,
+    -0.31752,
+    0.46173,
+    0.15182,
+    0.64712
+   ],
+   [
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+    1.06458,
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+    0.0,
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+    1.45583,
+    1.12304,
+    -0.31752,
+    0.46173,
+    0.15182,
+    0.64712
+   ],
+   [
+    -0.77926,
+    1.06458,
+    0.70562,
+    -0.44939,
+    0.10282,
+    -0.46635,
+    0.0,
+    1.34684,
+    1.45583,
+    1.12304,
+    -0.31752,
+    0.46173,
+    0.15182,
+    0.64712
+   ]
+  ],
+  "state_t": [
+   -0.26074,
+   0.53349,
+   0.83829,
+   -0.49802,
+   0.19169,
+   -0.39311,
+   0.97014,
+   0.57965,
+   0.81998,
+   0.83486,
+   -0.14286,
+   -0.519,
+   0.4324,
+   0.08814
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.0 cm forward, -13.6 cm to the robot's left and -19.4 cm up from where it is now (path length 27.4 cm); in the top camera that is +88 px right and +58 px down. Gripper command: now 0.96 open; starts closing at +1.60 s and is shut (0.00) at +3.67 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4807,
+    0.2156,
+    1.0828
+   ],
+   "grasp_site_now_uv": [
+    299.2,
+    224.7
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.461,
+    0.0795,
+    0.8892
+   ],
+   "grasp_site_at_shut_uv": [
+    387.3,
+    283.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 48,
+   "close_done_frame": 110,
+   "path_len_cm": 27.4,
+   "path_uv_every_3_frames": [
+    [
+     311.0,
+     230.6
+    ],
+    [
+     318.0,
+     234.6
+    ],
+    [
+     323.6,
+     238.5
+    ],
+    [
+     328.3,
+     241.4
+    ],
+    [
+     331.3,
+     243.3
+    ],
+    [
+     333.8,
+     244.3
+    ],
+    [
+     336.6,
+     245.2
+    ],
+    [
+     337.6,
+     244.6
+    ],
+    [
+     338.4,
+     246.2
+    ],
+    [
+     340.4,
+     249.1
+    ],
+    [
+     342.3,
+     250.0
+    ],
+    [
+     345.5,
+     249.4
+    ],
+    [
+     348.9,
+     247.3
+    ],
+    [
+     353.4,
+     245.9
+    ],
+    [
+     359.2,
+     247.0
+    ],
+    [
+     362.3,
+     248.9
+    ],
+    [
+     367.3,
+     253.3
+    ],
+    [
+     371.6,
+     257.5
+    ],
+    [
+     374.1,
+     261.0
+    ],
+    [
+     376.1,
+     262.9
+    ],
+    [
+     378.5,
+     265.2
+    ],
+    [
+     380.2,
+     267.3
+    ],
+    [
+     382.2,
+     270.0
+    ],
+    [
+     383.6,
+     272.8
+    ],
+    [
+     384.3,
+     273.9
+    ],
+    [
+     385.2,
+     275.0
+    ],
+    [
+     385.7,
+     276.9
+    ],
+    [
+     387.0,
+     278.5
+    ],
+    [
+     387.8,
+     279.5
+    ],
+    [
+     388.7,
+     280.1
+    ],
+    [
+     389.3,
+     279.2
+    ],
+    [
+     390.0,
+     279.2
+    ],
+    [
+     390.0,
+     280.3
+    ],
+    [
+     390.4,
+     281.5
+    ],
+    [
+     390.7,
+     281.7
+    ],
+    [
+     390.0,
+     282.0
+    ],
+    [
+     388.0,
+     282.3
+    ],
+    [
+     387.3,
+     283.0
+    ],
+    [
+     387.3,
+     283.0
+    ],
+    [
+     387.3,
+     283.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0185_9f523d1d_l_1804/sample.json b/public/samples/s0185_9f523d1d_l_1804/sample.json
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+{
+ "id": "s0185_9f523d1d_l_1804",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 75,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
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+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
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+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ],
+   [
+    -0.49097,
+    2.46198,
+    2.18746,
+    -0.84308,
+    0.4646,
+    0.07379,
+    0.0,
+    -0.15197,
+    1.84689,
+    1.29315,
+    -0.71632,
+    -0.02004,
+    0.22537,
+    0.06587
+   ]
+  ],
+  "state_t": [
+   -0.60712,
+   1.94991,
+   1.48528,
+   -0.5663,
+   0.26951,
+   -0.45377,
+   0.72788,
+   -0.15469,
+   1.86522,
+   1.32429,
+   -0.69867,
+   0.00935,
+   0.23213,
+   0.08764
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +9.9 cm forward, -2.5 cm to the robot's left and -3.1 cm up from where it is now (path length 32.6 cm); in the top camera that is +9 px right and -24 px down. Gripper command: now 0.75 open; starts closing at +0.17 s and is shut (0.00) at +2.50 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6257,
+    -0.0044,
+    0.8491
+   ],
+   "grasp_site_now_uv": [
+    312.8,
+    226.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7249,
+    -0.0289,
+    0.8181
+   ],
+   "grasp_site_at_shut_uv": [
+    321.5,
+    202.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 5,
+   "close_done_frame": 75,
+   "path_len_cm": 32.6,
+   "path_uv_every_3_frames": [
+    [
+     308.0,
+     188.0
+    ],
+    [
+     294.2,
+     171.8
+    ],
+    [
+     284.7,
+     166.8
+    ],
+    [
+     284.9,
+     165.3
+    ],
+    [
+     289.4,
+     166.2
+    ],
+    [
+     296.8,
+     169.2
+    ],
+    [
+     303.4,
+     173.6
+    ],
+    [
+     309.6,
+     178.0
+    ],
+    [
+     316.6,
+     184.0
+    ],
+    [
+     320.4,
+     189.6
+    ],
+    [
+     321.3,
+     193.3
+    ],
+    [
+     322.5,
+     194.4
+    ],
+    [
+     321.7,
+     195.3
+    ],
+    [
+     321.0,
+     196.5
+    ],
+    [
+     320.6,
+     196.3
+    ],
+    [
+     320.4,
+     196.2
+    ],
+    [
+     320.7,
+     197.7
+    ],
+    [
+     320.7,
+     199.1
+    ],
+    [
+     320.5,
+     200.1
+    ],
+    [
+     321.1,
+     200.9
+    ],
+    [
+     321.1,
+     202.0
+    ],
+    [
+     320.9,
+     203.3
+    ],
+    [
+     320.5,
+     203.8
+    ],
+    [
+     321.3,
+     203.8
+    ],
+    [
+     321.4,
+     203.7
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ],
+    [
+     321.5,
+     202.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0186_2e1d34ec_r_836/overlay_t.jpg b/public/samples/s0186_2e1d34ec_r_836/overlay_t.jpg
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diff --git a/public/samples/s0186_2e1d34ec_r_836/sample.json b/public/samples/s0186_2e1d34ec_r_836/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..4276481945276380be9219c0e3993afe3381ab34
--- /dev/null
+++ b/public/samples/s0186_2e1d34ec_r_836/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0186_2e1d34ec_r_836",
+ "task": "sort_the_legos_into_containers_by_color",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 60,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
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+    1.60334,
+    1.23083,
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+   ],
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+   ],
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+   ],
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+   ],
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+    1.79342,
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+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+    1.46018,
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+    0.1079,
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+   ],
+   [
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+    1.46018,
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+    0.1079,
+    0.20006,
+    0.16433
+   ]
+  ],
+  "state_t": [
+   -0.31872,
+   1.67067,
+   1.29721,
+   -0.58652,
+   0.41257,
+   -0.59606,
+   0.93114,
+   0.62428,
+   1.80457,
+   1.4929,
+   -0.89933,
+   0.22297,
+   0.46635,
+   0.61181
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.6 cm forward, +4.7 cm to the robot's left and -5.2 cm up from where it is now (path length 17.6 cm); in the top camera that is -20 px right and +9 px down. Gripper command: now 0.62 open; starts closing at +0.03 s and is shut (0.16) at +2.00 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.613,
+    -0.0967,
+    0.8784
+   ],
+   "grasp_site_now_uv": [
+    365.7,
+    224.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6193,
+    -0.0497,
+    0.826
+   ],
+   "grasp_site_at_shut_uv": [
+    346.0,
+    233.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 1,
+   "close_done_frame": 60,
+   "path_len_cm": 17.6,
+   "path_uv_every_3_frames": [
+    [
+     367.4,
+     220.7
+    ],
+    [
+     365.4,
+     220.2
+    ],
+    [
+     362.5,
+     220.1
+    ],
+    [
+     360.6,
+     220.2
+    ],
+    [
+     357.0,
+     220.5
+    ],
+    [
+     352.6,
+     221.4
+    ],
+    [
+     349.7,
+     224.8
+    ],
+    [
+     349.8,
+     226.3
+    ],
+    [
+     349.7,
+     227.0
+    ],
+    [
+     349.2,
+     228.6
+    ],
+    [
+     349.1,
+     231.5
+    ],
+    [
+     349.1,
+     234.8
+    ],
+    [
+     350.6,
+     237.9
+    ],
+    [
+     351.2,
+     238.1
+    ],
+    [
+     351.6,
+     238.2
+    ],
+    [
+     352.2,
+     238.1
+    ],
+    [
+     351.8,
+     237.2
+    ],
+    [
+     351.1,
+     236.3
+    ],
+    [
+     349.4,
+     235.1
+    ],
+    [
+     348.0,
+     234.1
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ],
+    [
+     346.0,
+     233.2
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0187_9a8ca9d4_r_551/sample.json b/public/samples/s0187_9a8ca9d4_r_551/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e5acea327c602a5a07f13ae762b525fe4a4dd7a
--- /dev/null
+++ b/public/samples/s0187_9a8ca9d4_r_551/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0187_9a8ca9d4_r_551",
+ "task": "put_the_plastic_bottles_in_the_bin",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 58,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ],
+   [
+    -0.61664,
+    1.32379,
+    1.41278,
+    -0.6366,
+    0.73014,
+    -0.36969,
+    0.0,
+    0.45559,
+    1.32383,
+    1.25785,
+    0.10584,
+    -0.58443,
+    0.77004,
+    0.45215
+   ]
+  ],
+  "state_t": [
+   -0.25578,
+   2.30583,
+   1.96632,
+   -1.01263,
+   0.08488,
+   -0.56897,
+   0.76557,
+   0.36641,
+   0.74559,
+   1.20069,
+   -0.52396,
+   0.45796,
+   0.20275,
+   0.83138
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +7.9 cm forward, +25.1 cm to the robot's left and -1.7 cm up from where it is now (path length 29.8 cm); in the top camera that is -166 px right and -32 px down. Gripper command: now 0.83 open; starts closing at +1.60 s and is shut (0.45) at +1.93 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5088,
+    -0.2922,
+    1.1891
+   ],
+   "grasp_site_now_uv": [
+    514.1,
+    168.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5879,
+    -0.0412,
+    1.1723
+   ],
+   "grasp_site_at_shut_uv": [
+    347.9,
+    136.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 48,
+   "close_done_frame": 58,
+   "path_len_cm": 29.8,
+   "path_uv_every_3_frames": [
+    [
+     511.3,
+     172.2
+    ],
+    [
+     509.5,
+     171.5
+    ],
+    [
+     507.5,
+     171.2
+    ],
+    [
+     505.7,
+     170.7
+    ],
+    [
+     501.3,
+     169.2
+    ],
+    [
+     491.5,
+     164.5
+    ],
+    [
+     478.0,
+     155.7
+    ],
+    [
+     457.9,
+     144.6
+    ],
+    [
+     431.0,
+     135.8
+    ],
+    [
+     409.5,
+     130.1
+    ],
+    [
+     393.7,
+     127.5
+    ],
+    [
+     380.4,
+     129.5
+    ],
+    [
+     373.3,
+     132.3
+    ],
+    [
+     367.9,
+     134.6
+    ],
+    [
+     360.8,
+     137.3
+    ],
+    [
+     352.8,
+     139.5
+    ],
+    [
+     347.5,
+     141.0
+    ],
+    [
+     345.7,
+     139.6
+    ],
+    [
+     346.9,
+     138.7
+    ],
+    [
+     348.0,
+     137.0
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ],
+    [
+     347.9,
+     136.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0188_02801c08_l_1522/sample.json b/public/samples/s0188_02801c08_l_1522/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c22b9dac6e769d230ce2ddfb4b1d7ab39e7e79
--- /dev/null
+++ b/public/samples/s0188_02801c08_l_1522/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0188_02801c08_l_1522",
+ "task": "remove_the_underwear_clipped_to_the_hanger",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 29,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.72864,
+    1.18259,
+    0.76539,
+    0.25463,
+    0.68569,
+    0.29758,
+    0.9453,
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+    1.09373,
+    1.27779,
+    -1.23177,
+    -0.68259,
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+   ],
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+    1.09525,
+    1.28084,
+    -1.23331,
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+    0.0
+   ],
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+   ],
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+   [
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+   [
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+   ],
+   [
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+   ],
+   [
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+    0.0
+   ],
+   [
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+    1.0968,
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+   ],
+   [
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+   ],
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+   ],
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+   ],
+   [
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+   ],
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+    0.0
+   ],
+   [
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+    1.09221,
+    1.27167,
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+    -0.73784,
+    -1.16739,
+    0.0
+   ],
+   [
+    -0.78692,
+    1.31619,
+    0.85901,
+    0.29146,
+    0.57374,
+    0.24389,
+    0.0,
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+    1.09221,
+    1.27167,
+    -1.23025,
+    -0.73784,
+    -1.16739,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.72881,
+   1.14538,
+   0.74559,
+   0.18559,
+   0.66167,
+   0.24166,
+   0.95536,
+   0.1936,
+   1.108,
+   1.27279,
+   -1.21901,
+   -0.61666,
+   -1.18811,
+   0.15013
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.5 cm forward, -3.8 cm to the robot's left and +0.9 cm up from where it is now (path length 5.2 cm); in the top camera that is +21 px right and -15 px down. Gripper command: now 0.95 open; starts closing at +0.00 s and is shut (0.00) at +0.97 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4541,
+    -0.01,
+    1.0201
+   ],
+   "grasp_site_now_uv": [
+    431.4,
+    255.9
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4792,
+    -0.0481,
+    1.0294
+   ],
+   "grasp_site_at_shut_uv": [
+    452.6,
+    241.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 29,
+   "path_len_cm": 5.2,
+   "path_uv_every_3_frames": [
+    [
+     435.7,
+     251.3
+    ],
+    [
+     438.8,
+     248.2
+    ],
+    [
+     443.5,
+     245.7
+    ],
+    [
+     447.3,
+     244.0
+    ],
+    [
+     449.1,
+     242.5
+    ],
+    [
+     450.6,
+     242.4
+    ],
+    [
+     452.2,
+     242.0
+    ],
+    [
+     453.2,
+     241.7
+    ],
+    [
+     453.3,
+     242.1
+    ],
+    [
+     452.9,
+     241.8
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ],
+    [
+     452.6,
+     241.2
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0189_0bc1bd7e_r_377/sample.json b/public/samples/s0189_0bc1bd7e_r_377/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..544f146649c5336741ed42ace586916a1e37790a
--- /dev/null
+++ b/public/samples/s0189_0bc1bd7e_r_377/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0189_0bc1bd7e_r_377",
+ "task": "put_the_trash_bags_into_the_trash_bin",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 30,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.21016,
+    1.05389,
+    1.21339,
+    -0.57984,
+    0.27308,
+    0.27612,
+    0.92974,
+    0.02941,
+    1.73005,
+    1.31907,
+    -0.57523,
+    0.10753,
+    -0.61198,
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+    0.0
+   ],
+   [
+    -0.21474,
+    1.06915,
+    1.21491,
+    -0.59058,
+    0.30675,
+    0.3145,
+    0.97806,
+    -0.08745,
+    1.6628,
+    1.47566,
+    -0.79597,
+    -0.28214,
+    -0.5967,
+    0.0
+   ],
+   [
+    -0.21474,
+    1.06915,
+    1.21491,
+    -0.59058,
+    0.30675,
+    0.3145,
+    0.97806,
+    -0.08745,
+    1.6628,
+    1.47566,
+    -0.79597,
+    -0.28214,
+    -0.5967,
+    0.0
+   ],
+   [
+    -0.21474,
+    1.06915,
+    1.21491,
+    -0.59058,
+    0.30675,
+    0.3145,
+    0.97806,
+    -0.08745,
+    1.6628,
+    1.47566,
+    -0.79597,
+    -0.28214,
+    -0.5967,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.21344,
+   1.07595,
+   1.20718,
+   -0.57698,
+   0.2451,
+   0.28058,
+   0.88033,
+   0.12646,
+   1.62451,
+   1.24533,
+   -0.58652,
+   0.18711,
+   -0.54608,
+   0.92818
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.8 cm forward, -1.2 cm to the robot's left and +4.8 cm up from where it is now (path length 18.8 cm); in the top camera that is +10 px right and -16 px down. Gripper command: now 0.93 open; starts closing at +0.00 s and is shut (0.00) at +1.00 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6742,
+    -0.2883,
+    0.8944
+   ],
+   "grasp_site_now_uv": [
+    445.0,
+    193.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6827,
+    -0.3002,
+    0.9428
+   ],
+   "grasp_site_at_shut_uv": [
+    455.2,
+    177.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 30,
+   "path_len_cm": 18.8,
+   "path_uv_every_3_frames": [
+    [
+     453.3,
+     188.9
+    ],
+    [
+     460.6,
+     190.2
+    ],
+    [
+     463.2,
+     190.9
+    ],
+    [
+     462.8,
+     192.9
+    ],
+    [
+     460.9,
+     193.2
+    ],
+    [
+     459.6,
+     190.6
+    ],
+    [
+     460.8,
+     187.2
+    ],
+    [
+     462.0,
+     180.8
+    ],
+    [
+     461.2,
+     177.7
+    ],
+    [
+     459.6,
+     174.5
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ],
+    [
+     455.2,
+     177.1
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0190_cfe85fb7_l_487/sample.json b/public/samples/s0190_cfe85fb7_l_487/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f75b084021d25a2afe01abd266b7126ef8c802
--- /dev/null
+++ b/public/samples/s0190_cfe85fb7_l_487/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0190_cfe85fb7_l_487",
+ "task": "remove_the_socks_clipped_to_the_hanger",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 51,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.67955,
+    1.23628,
+    1.38991,
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+   ],
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+    0.48937,
+    0.0
+   ],
+   [
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+    0.98483,
+    0.35452,
+    1.08149,
+    -0.87744,
+    0.48937,
+    0.0
+   ],
+   [
+    -0.67955,
+    1.36675,
+    1.28853,
+    0.3068,
+    0.13346,
+    -0.63355,
+    0.1236,
+    0.71944,
+    0.98483,
+    0.35452,
+    1.08149,
+    -0.87744,
+    0.48937,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.67884,
+   1.22892,
+   1.36168,
+   -0.12493,
+   0.17605,
+   -0.66014,
+   0.98365,
+   0.659,
+   0.94892,
+   0.37289,
+   0.93786,
+   -0.67769,
+   0.45491,
+   0.0093
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.8 cm forward, -2.2 cm to the robot's left and +1.2 cm up from where it is now (path length 11.0 cm); in the top camera that is +15 px right and -24 px down. Gripper command: now 0.98 open; starts closing at +0.00 s and is shut (0.12) at +1.70 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5512,
+    0.0308,
+    1.2065
+   ],
+   "grasp_site_now_uv": [
+    302.5,
+    143.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5896,
+    0.0086,
+    1.2181
+   ],
+   "grasp_site_at_shut_uv": [
+    317.2,
+    119.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 51,
+   "path_len_cm": 11.0,
+   "path_uv_every_3_frames": [
+    [
+     301.7,
+     123.3
+    ],
+    [
+     306.3,
+     125.5
+    ],
+    [
+     307.7,
+     123.0
+    ],
+    [
+     311.0,
+     122.1
+    ],
+    [
+     311.7,
+     121.7
+    ],
+    [
+     311.0,
+     122.4
+    ],
+    [
+     310.4,
+     125.9
+    ],
+    [
+     313.6,
+     129.2
+    ],
+    [
+     313.9,
+     132.0
+    ],
+    [
+     313.3,
+     130.2
+    ],
+    [
+     316.5,
+     127.6
+    ],
+    [
+     318.1,
+     126.1
+    ],
+    [
+     317.8,
+     124.2
+    ],
+    [
+     318.2,
+     123.5
+    ],
+    [
+     318.0,
+     122.8
+    ],
+    [
+     317.2,
+     122.1
+    ],
+    [
+     317.0,
+     120.8
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ],
+    [
+     317.2,
+     119.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0191_fe0cd63d_r_1390/sample.json b/public/samples/s0191_fe0cd63d_r_1390/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbc71fd37751c6d79a1ef0f66a5ca5a7a04eec0
--- /dev/null
+++ b/public/samples/s0191_fe0cd63d_r_1390/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0191_fe0cd63d_r_1390",
+ "task": "put_the_credit_cards_into_the_card_holder",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 112,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.22842,
+    1.66402,
+    0.65041,
+    -0.01691,
+    0.64769,
+    -0.67187,
+    0.1039,
+    0.95493,
+    1.91942,
+    1.31688,
+    -0.49493,
+    0.27456,
+    0.61403,
+    0.929
+   ],
+   [
+    -0.22806,
+    1.66495,
+    0.65393,
+    -0.02257,
+    0.65035,
+    -0.66788,
+    0.10608,
+    0.95504,
+    1.90648,
+    1.30509,
+    -0.48507,
+    0.27125,
+    0.61985,
+    0.92709
+   ],
+   [
+    -0.22816,
+    1.66442,
+    0.65873,
+    -0.03366,
+    0.65156,
+    -0.66071,
+    0.1059,
+    0.95438,
+    1.88973,
+    1.2899,
+    -0.47626,
+    0.26961,
+    0.6264,
+    0.92559
+   ],
+   [
+    -0.22837,
+    1.6608,
+    0.66108,
+    -0.03811,
+    0.64757,
+    -0.65591,
+    0.10707,
+    0.95378,
+    1.8754,
+    1.28151,
+    -0.47517,
+    0.26444,
+    0.63295,
+    0.92045
+   ],
+   [
+    -0.22763,
+    1.65612,
+    0.65714,
+    -0.03787,
+    0.64599,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.8 cm forward, +0.1 cm to the robot's left and +0.4 cm up from where it is now (path length 19.9 cm); in the top camera that is -1 px right and +9 px down. Gripper command: now 0.93 open; starts closing at +0.03 s and is shut (0.18) at +3.73 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.555,
+    0.0376,
+    0.7932
+   ],
+   "grasp_site_now_uv": [
+    312.4,
+    263.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5265,
+    0.0387,
+    0.797
+   ],
+   "grasp_site_at_shut_uv": [
+    311.7,
+    272.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 1,
+   "close_done_frame": 112,
+   "path_len_cm": 19.9,
+   "path_uv_every_3_frames": [
+    [
+     313.4,
+     261.1
+    ],
+    [
+     314.4,
+     260.7
+    ],
+    [
+     315.1,
+     260.7
+    ],
+    [
+     311.8,
+     262.3
+    ],
+    [
+     307.2,
+     265.2
+    ],
+    [
+     307.1,
+     266.6
+    ],
+    [
+     308.2,
+     267.3
+    ],
+    [
+     308.6,
+     267.9
+    ],
+    [
+     309.3,
+     268.6
+    ],
+    [
+     309.9,
+     270.0
+    ],
+    [
+     311.9,
+     270.4
+    ],
+    [
+     311.1,
+     271.6
+    ],
+    [
+     309.5,
+     272.6
+    ],
+    [
+     309.6,
+     272.2
+    ],
+    [
+     310.2,
+     271.2
+    ],
+    [
+     310.9,
+     270.5
+    ],
+    [
+     312.6,
+     269.7
+    ],
+    [
+     315.5,
+     268.3
+    ],
+    [
+     318.8,
+     266.3
+    ],
+    [
+     317.0,
+     266.2
+    ],
+    [
+     316.1,
+     266.7
+    ],
+    [
+     315.1,
+     267.6
+    ],
+    [
+     313.3,
+     268.4
+    ],
+    [
+     312.7,
+     268.3
+    ],
+    [
+     312.5,
+     268.6
+    ],
+    [
+     313.1,
+     269.0
+    ],
+    [
+     313.7,
+     270.0
+    ],
+    [
+     313.1,
+     270.3
+    ],
+    [
+     313.5,
+     271.5
+    ],
+    [
+     313.6,
+     272.0
+    ],
+    [
+     314.6,
+     272.1
+    ],
+    [
+     315.4,
+     272.3
+    ],
+    [
+     315.3,
+     272.8
+    ],
+    [
+     314.6,
+     273.1
+    ],
+    [
+     313.6,
+     273.3
+    ],
+    [
+     312.7,
+     273.4
+    ],
+    [
+     312.5,
+     272.9
+    ],
+    [
+     312.0,
+     272.5
+    ],
+    [
+     311.7,
+     272.7
+    ],
+    [
+     311.7,
+     272.7
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0192_92af51ef_l_5195/sample.json b/public/samples/s0192_92af51ef_l_5195/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d277422e8d92dee434a38802c8028162e56761
--- /dev/null
+++ b/public/samples/s0192_92af51ef_l_5195/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0192_92af51ef_l_5195",
+ "task": "insert_the_pens_into_the_pen_caps",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 34,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.87671,
+    0.86031,
+    0.85292,
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+    -0.67278,
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+    1.05624,
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+   ],
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+   ],
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+   ],
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+   ],
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+   [
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+   ],
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+   ],
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+   [
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+   ],
+   [
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+    0.95118,
+    0.00423,
+    0.38046,
+    0.42643,
+    0.00072
+   ]
+  ],
+  "state_t": [
+   -0.87682,
+   0.85927,
+   0.85508,
+   -0.21763,
+   -0.20428,
+   -0.65366,
+   0.67815,
+   1.02598,
+   1.14271,
+   0.8875,
+   -0.05589,
+   0.17605,
+   0.57622,
+   0.34118
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, +0.6 cm to the robot's left and +5.0 cm up from where it is now (path length 4.6 cm); in the top camera that is -6 px right and -14 px down. Gripper command: now 0.68 open; starts closing at +0.13 s and is shut (0.16) at +1.13 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4884,
+    0.0804,
+    1.07
+   ],
+   "grasp_site_now_uv": [
+    274.2,
+    225.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4872,
+    0.0861,
+    1.1202
+   ],
+   "grasp_site_at_shut_uv": [
+    268.4,
+    210.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 34,
+   "path_len_cm": 4.6,
+   "path_uv_every_3_frames": [
+    [
+     273.7,
+     218.0
+    ],
+    [
+     273.6,
+     218.0
+    ],
+    [
+     273.7,
+     217.3
+    ],
+    [
+     273.5,
+     216.1
+    ],
+    [
+     273.3,
+     215.1
+    ],
+    [
+     272.8,
+     214.2
+    ],
+    [
+     272.3,
+     213.6
+    ],
+    [
+     271.3,
+     212.8
+    ],
+    [
+     269.8,
+     211.7
+    ],
+    [
+     268.6,
+     211.2
+    ],
+    [
+     268.1,
+     210.5
+    ],
+    [
+     268.3,
+     210.6
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ],
+    [
+     268.4,
+     210.7
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0193_d3a650ba_l_4788/sample.json b/public/samples/s0193_d3a650ba_l_4788/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..43565ec5ac03bd414081e4f63e570a8889f606c0
--- /dev/null
+++ b/public/samples/s0193_d3a650ba_l_4788/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0193_d3a650ba_l_4788",
+ "task": "unpack_the_express_box",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 47,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.66115,
+    1.32079,
+    1.22263,
+    -0.43419,
+    -0.21318,
+    0.38188,
+    0.90148,
+    0.948,
+    1.19345,
+    0.60901,
+    0.57369,
+    -0.15338,
+    0.42028,
+    0.0
+   ],
+   [
+    -0.65963,
+    1.3162,
+    1.21803,
+    -0.43108,
+    -0.2193,
+    0.38652,
+    0.87535,
+    0.948,
+    1.19496,
+    0.60899,
+    0.57675,
+    -0.15492,
+    0.42031,
+    0.0
+   ],
+   [
+    -0.66113,
+    1.3116,
+    1.20735,
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+    -0.23151,
+    0.39264,
+    0.84038,
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+    1.19497,
+    0.60899,
+    0.57678,
+    -0.15645,
+    0.42335,
+    0.0
+   ],
+   [
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+    1.2994,
+    1.19965,
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+    0.41092,
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+    1.19649,
+    0.60747,
+    0.5783,
+    -0.15798,
+    0.4249,
+    0.0
+   ],
+   [
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+    1.28709,
+    1.18127,
+    -0.4096,
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+    0.42637,
+    0.65204,
+    0.948,
+    1.20109,
+    0.60746,
+    0.58593,
+    -0.16259,
+    0.431,
+    0.0
+   ],
+   [
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+    1.28709,
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+    1.20109,
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+    0.58593,
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+    0.431,
+    0.0
+   ],
+   [
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+    1.27486,
+    1.17357,
+    -0.40654,
+    -0.26225,
+    0.44771,
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+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0194_84fe68d9_r_1345/sample.json b/public/samples/s0194_84fe68d9_r_1345/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fcc1d8b55bdb23ec275cc0301131b7602f2781a
--- /dev/null
+++ b/public/samples/s0194_84fe68d9_r_1345/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0194_84fe68d9_r_1345",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 33,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+   [
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+   [
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+   [
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+   ],
+   [
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+    0.38511,
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+   ],
+   [
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+    0.44121,
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+    2.40231,
+    1.99572,
+    -0.56607,
+    -0.02619,
+    0.38511,
+    0.0
+   ],
+   [
+    -0.36664,
+    1.84385,
+    1.46957,
+    -0.60289,
+    0.35433,
+    -0.38655,
+    0.44121,
+    -0.342,
+    2.40231,
+    1.99572,
+    -0.56607,
+    -0.02619,
+    0.38511,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.40227,
+   1.71378,
+   1.25219,
+   -0.5354,
+   0.31758,
+   -0.33627,
+   0.45229,
+   -0.22717,
+   2.30125,
+   1.91939,
+   -0.58614,
+   -0.09289,
+   0.33284,
+   0.90831
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.4 cm forward, -8.1 cm to the robot's left and -2.6 cm up from where it is now (path length 16.1 cm); in the top camera that is +27 px right and +8 px down. Gripper command: now 0.91 open; starts closing at +0.00 s and is shut (0.00) at +1.10 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.8248,
+    -0.4261,
+    0.8246
+   ],
+   "grasp_site_now_uv": [
+    489.7,
+    167.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.8204,
+    -0.5074,
+    0.7985
+   ],
+   "grasp_site_at_shut_uv": [
+    517.1,
+    175.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 33,
+   "path_len_cm": 16.1,
+   "path_uv_every_3_frames": [
+    [
+     497.7,
+     167.6
+    ],
+    [
+     496.8,
+     172.0
+    ],
+    [
+     493.8,
+     173.8
+    ],
+    [
+     491.3,
+     175.9
+    ],
+    [
+     488.9,
+     176.9
+    ],
+    [
+     485.7,
+     176.3
+    ],
+    [
+     482.3,
+     176.0
+    ],
+    [
+     483.4,
+     177.9
+    ],
+    [
+     489.7,
+     178.6
+    ],
+    [
+     497.3,
+     178.1
+    ],
+    [
+     507.2,
+     178.0
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ],
+    [
+     517.1,
+     175.2
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0195_0f98afa3_l_633/sample.json b/public/samples/s0195_0f98afa3_l_633/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..922133b67639d46947d411e8b08cf1199ae12ab7
--- /dev/null
+++ b/public/samples/s0195_0f98afa3_l_633/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0195_0f98afa3_l_633",
+ "task": "place_the_trousers_on_the_hanger",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 18,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    1.05845,
+    1.29621,
+    0.90812,
+    -1.00629,
+    0.2301,
+    1.1919,
+    0.61257,
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+    1.58614,
+    0.93266,
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+    -0.10769,
+    0.47707,
+    0.99803
+   ],
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+    0.99803
+   ],
+   [
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+    0.99803
+   ],
+   [
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+    0.28665,
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+    1.46366,
+    0.98175,
+    -0.55671,
+    0.26663,
+    0.53358,
+    0.99803
+   ],
+   [
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+    0.18877,
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+    1.44975,
+    0.9939,
+    -0.56898,
+    0.30488,
+    0.54749,
+    0.99803
+   ],
+   [
+    1.05845,
+    1.29621,
+    0.92806,
+    -1.0293,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
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+   "close_onset_frame": 0,
+   "close_done_frame": 18,
+   "path_len_cm": 2.1,
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+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+++ b/public/samples/s0196_eb50ba30_l_4210/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0196_eb50ba30_l_4210",
+ "task": "place_the_letter_into_the_envelope_and_seal_it",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 64,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+   [
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+    -0.32827,
+    0.45387
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+   [
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+    -0.67182,
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+   [
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+    1.30689,
+    1.62447,
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+    -0.67182,
+    -0.32827,
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+    1.30689,
+    1.62447,
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+   [
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+    0.0,
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+    1.30689,
+    1.62447,
+    -0.96015,
+    -0.67182,
+    -0.32827,
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+    1.62447,
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+   [
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+    -0.32827,
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+   [
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+    1.30689,
+    1.62447,
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+    -0.67182,
+    -0.32827,
+    0.45387
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+   [
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+    1.30689,
+    1.62447,
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+    -0.67182,
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+   ],
+   [
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+    1.30689,
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+    -0.32827,
+    0.45387
+   ],
+   [
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+    0.80071,
+    1.00012,
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+    0.67649,
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+    1.30689,
+    1.62447,
+    -0.96015,
+    -0.67182,
+    -0.32827,
+    0.45387
+   ],
+   [
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+    0.80071,
+    1.00012,
+    -0.29914,
+    0.67649,
+    0.75469,
+    0.0,
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+    1.30689,
+    1.62447,
+    -0.96015,
+    -0.67182,
+    -0.32827,
+    0.45387
+   ],
+   [
+    -0.88817,
+    0.80071,
+    1.00012,
+    -0.29914,
+    0.67649,
+    0.75469,
+    0.0,
+    0.88357,
+    1.30689,
+    1.62447,
+    -0.96015,
+    -0.67182,
+    -0.32827,
+    0.45387
+   ]
+  ],
+  "state_t": [
+   -0.6754,
+   0.8154,
+   0.85164,
+   -0.0124,
+   0.78717,
+   -0.21611,
+   0.58247,
+   0.88483,
+   1.18544,
+   1.58484,
+   -0.88636,
+   -0.42821,
+   -0.71508,
+   0.13487
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.2 cm forward, -1.0 cm to the robot's left and +1.1 cm up from where it is now (path length 8.3 cm); in the top camera that is +6 px right and +29 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.3923,
+    0.0437,
+    1.1297
+   ],
+   "grasp_site_now_uv": [
+    295.3,
+    255.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.3402,
+    0.0334,
+    1.1403
+   ],
+   "grasp_site_at_shut_uv": [
+    300.9,
+    284.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 64,
+   "path_len_cm": 8.3,
+   "path_uv_every_3_frames": [
+    [
+     276.5,
+     268.9
+    ],
+    [
+     276.0,
+     270.1
+    ],
+    [
+     280.5,
+     268.3
+    ],
+    [
+     284.3,
+     269.8
+    ],
+    [
+     288.2,
+     273.5
+    ],
+    [
+     291.4,
+     276.3
+    ],
+    [
+     294.1,
+     279.4
+    ],
+    [
+     295.4,
+     281.5
+    ],
+    [
+     295.9,
+     283.8
+    ],
+    [
+     296.6,
+     284.5
+    ],
+    [
+     297.6,
+     284.2
+    ],
+    [
+     297.7,
+     284.7
+    ],
+    [
+     297.9,
+     283.2
+    ],
+    [
+     298.7,
+     283.1
+    ],
+    [
+     299.0,
+     283.4
+    ],
+    [
+     298.9,
+     283.7
+    ],
+    [
+     299.7,
+     284.2
+    ],
+    [
+     300.1,
+     283.4
+    ],
+    [
+     300.0,
+     283.6
+    ],
+    [
+     299.9,
+     284.1
+    ],
+    [
+     299.7,
+     285.0
+    ],
+    [
+     300.6,
+     284.7
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ],
+    [
+     300.9,
+     284.2
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0197_7d96f1e1_r_55/right_t-15.jpg b/public/samples/s0197_7d96f1e1_r_55/right_t-15.jpg
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diff --git a/public/samples/s0197_7d96f1e1_r_55/sample.json b/public/samples/s0197_7d96f1e1_r_55/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e06799480087dc882072fe08ae95aa7e888544
--- /dev/null
+++ b/public/samples/s0197_7d96f1e1_r_55/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0197_7d96f1e1_r_55",
+ "task": "clip_the_socks_to_the_hanger",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 75,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.65653,
+    0.68106,
+    0.91732,
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+   ],
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+   ],
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+   ],
+   [
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+   ],
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+   ],
+   [
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +5.3 cm forward, +1.9 cm to the robot's left and +0.2 cm up from where it is now (path length 13.7 cm); in the top camera that is -12 px right and -21 px down. Gripper command: now 0.71 open; starts closing at +1.57 s and is shut (0.13) at +2.50 s; all targets are then held fixed for the rest of the chunk.",
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+   "shut_in_top_view": true,
+   "close_onset_frame": 47,
+   "close_done_frame": 75,
+   "path_len_cm": 13.7,
+   "path_uv_every_3_frames": [
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+    [
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+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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index 0000000000000000000000000000000000000000..8db820ee55219c114ffc49a019d11c0d8564c906
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+{
+ "id": "s0198_1369e8ef_r_1417",
+ "task": "stack_the_hats",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 16,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+   ],
+   [
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+    0.8605,
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+    -0.69336,
+    0.13154,
+    -0.32671,
+    0.0073,
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+    1.83156,
+    -0.39115,
+    -0.4218,
+    0.22853,
+    0.38643
+   ]
+  ],
+  "state_t": [
+   0.01507,
+   0.89246,
+   1.0565,
+   -0.69791,
+   0.16232,
+   -0.28592,
+   0.01152,
+   0.6899,
+   2.00828,
+   1.72408,
+   -0.20352,
+   -0.62619,
+   0.14897,
+   0.87429
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, -5.1 cm to the robot's left and +11.8 cm up from where it is now (path length 8.1 cm); in the top camera that is +20 px right and -39 px down. Gripper command: now 0.87 open; starts closing at +0.00 s and is shut (0.39) at +0.53 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6294,
+    0.1302,
+    0.9928
+   ],
+   "grasp_site_now_uv": [
+    263.3,
+    187.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6282,
+    0.0788,
+    1.1109
+   ],
+   "grasp_site_at_shut_uv": [
+    283.4,
+    148.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 16,
+   "path_len_cm": 8.1,
+   "path_uv_every_3_frames": [
+    [
+     265.8,
+     169.6
+    ],
+    [
+     270.4,
+     163.5
+    ],
+    [
+     277.2,
+     156.3
+    ],
+    [
+     282.0,
+     151.7
+    ],
+    [
+     283.7,
+     149.8
+    ],
+    [
+     283.9,
+     148.2
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ],
+    [
+     283.4,
+     148.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0199_a39aeb5c_r_5527/sample.json b/public/samples/s0199_a39aeb5c_r_5527/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7530bcfb9750436607657fbdc452c3946558853
--- /dev/null
+++ b/public/samples/s0199_a39aeb5c_r_5527/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0199_a39aeb5c_r_5527",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 20,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
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+    1.47416,
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+    1.07686,
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+    0.08744,
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+   ]
+  ],
+  "state_t": [
+   0.14591,
+   1.5032,
+   0.92374,
+   -0.49306,
+   0.00591,
+   0.64794,
+   0.22817,
+   0.37556,
+   1.36931,
+   0.97639,
+   -0.64946,
+   0.07916,
+   0.74331,
+   0.64859
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +7.1 cm forward, -2.9 cm to the robot's left and -7.8 cm up from where it is now (path length 12.5 cm); in the top camera that is +3 px right and -9 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.15) at +0.67 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.573,
+    -0.1981,
+    0.874
+   ],
+   "grasp_site_now_uv": [
+    514.3,
+    237.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6438,
+    -0.2272,
+    0.7955
+   ],
+   "grasp_site_at_shut_uv": [
+    517.5,
+    228.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 20,
+   "path_len_cm": 12.5,
+   "path_uv_every_3_frames": [
+    [
+     520.2,
+     228.1
+    ],
+    [
+     514.5,
+     220.7
+    ],
+    [
+     512.5,
+     220.6
+    ],
+    [
+     514.5,
+     229.2
+    ],
+    [
+     510.1,
+     227.6
+    ],
+    [
+     510.9,
+     228.4
+    ],
+    [
+     515.2,
+     229.5
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ],
+    [
+     517.5,
+     228.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0199_a39aeb5c_r_5527/top_t-30.jpg b/public/samples/s0199_a39aeb5c_r_5527/top_t-30.jpg
new file mode 100644
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diff --git a/public/samples/s0199_a39aeb5c_r_5527/top_t.jpg b/public/samples/s0199_a39aeb5c_r_5527/top_t.jpg
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+{
+ "id": "s0200_0f4ed64f_r_318",
+ "task": "put_the_plastic_bottles_in_the_bin",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
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+   30
+  ],
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+   "left_t": "left_t.jpg",
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+   "top_t-30": "top_t-30.jpg",
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+   "right_t-30": "right_t-30.jpg"
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+  "freeze_frame": 74,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ],
+   [
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+    1.63297,
+    1.11977,
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+    0.16007,
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+   [
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+    1.0,
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+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ],
+   [
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+    -0.22012,
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+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ],
+   [
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+    1.30797,
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+    -0.22012,
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+    1.63297,
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+    0.16007,
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+   [
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+    1.30797,
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+    1.11977,
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+    0.23016,
+    0.16007,
+    0.46746
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+   [
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+    1.63297,
+    1.11977,
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+    0.23016,
+    0.16007,
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+   ],
+   [
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+    1.30797,
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+    0.16007,
+    0.46746
+   ],
+   [
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+    1.30797,
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+    -0.22012,
+    -0.00782,
+    0.08744,
+    1.0,
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+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ],
+   [
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+    1.30797,
+    1.50274,
+    -0.22012,
+    -0.00782,
+    0.08744,
+    1.0,
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+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ],
+   [
+    -0.61752,
+    1.30797,
+    1.50274,
+    -0.22012,
+    -0.00782,
+    0.08744,
+    1.0,
+    -0.40855,
+    1.63297,
+    1.11977,
+    -0.78731,
+    0.23016,
+    0.16007,
+    0.46746
+   ]
+  ],
+  "state_t": [
+   -0.60826,
+   1.50587,
+   1.56386,
+   -0.16461,
+   0.11463,
+   -0.02956,
+   0.99711,
+   -0.33551,
+   1.15454,
+   1.01415,
+   -0.9062,
+   0.28286,
+   0.34504,
+   0.99662
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.8 cm forward, -3.4 cm to the robot's left and -9.7 cm up from where it is now (path length 24.0 cm); in the top camera that is -8 px right and +1 px down. Gripper command: now 1.00 open; starts closing at +1.53 s and is shut (0.47) at +2.47 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5041,
+    -0.448,
+    0.9252
+   ],
+   "grasp_site_now_uv": [
+    522.3,
+    259.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5521,
+    -0.482,
+    0.8287
+   ],
+   "grasp_site_at_shut_uv": [
+    514.3,
+    260.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 46,
+   "close_done_frame": 74,
+   "path_len_cm": 24.0,
+   "path_uv_every_3_frames": [
+    [
+     521.2,
+     255.8
+    ],
+    [
+     522.0,
+     257.3
+    ],
+    [
+     524.6,
+     259.4
+    ],
+    [
+     524.4,
+     260.7
+    ],
+    [
+     522.1,
+     262.4
+    ],
+    [
+     521.4,
+     263.5
+    ],
+    [
+     521.1,
+     262.5
+    ],
+    [
+     521.3,
+     260.9
+    ],
+    [
+     520.2,
+     260.7
+    ],
+    [
+     519.2,
+     263.4
+    ],
+    [
+     518.2,
+     265.2
+    ],
+    [
+     515.3,
+     266.2
+    ],
+    [
+     512.8,
+     267.4
+    ],
+    [
+     510.6,
+     269.0
+    ],
+    [
+     508.8,
+     271.0
+    ],
+    [
+     507.3,
+     272.5
+    ],
+    [
+     505.4,
+     273.2
+    ],
+    [
+     503.2,
+     274.2
+    ],
+    [
+     501.2,
+     274.8
+    ],
+    [
+     500.8,
+     275.2
+    ],
+    [
+     501.7,
+     274.4
+    ],
+    [
+     504.3,
+     271.7
+    ],
+    [
+     508.0,
+     267.7
+    ],
+    [
+     511.3,
+     263.9
+    ],
+    [
+     513.5,
+     261.7
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ],
+    [
+     514.3,
+     260.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0201_47d81e9a_l_853/sample.json b/public/samples/s0201_47d81e9a_l_853/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfdadca170822409dca8a45d984efd84e1ce4dc4
--- /dev/null
+++ b/public/samples/s0201_47d81e9a_l_853/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0201_47d81e9a_l_853",
+ "task": "sort_the_legos_into_containers_by_color",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 14,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
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+    1.738,
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+    0.77159,
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+    0.52462,
+    0.0
+   ],
+   [
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+    1.75794,
+    1.26707,
+    0.02454,
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+    0.05208,
+    0.52462,
+    1.89293,
+    1.71652,
+    -0.25924,
+    -0.34515,
+    0.52462,
+    0.0
+   ],
+   [
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+    1.75794,
+    1.26707,
+    0.02454,
+    0.50621,
+    0.79,
+    0.05208,
+    0.52462,
+    1.89293,
+    1.71652,
+    -0.25924,
+    -0.34515,
+    0.52462,
+    0.0
+   ],
+   [
+    -0.03528,
+    1.75794,
+    1.26707,
+    0.02454,
+    0.50621,
+    0.79,
+    0.05208,
+    0.52462,
+    1.89293,
+    1.71652,
+    -0.25924,
+    -0.34515,
+    0.52462,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.04215,
+   1.80915,
+   1.23007,
+   0.03033,
+   0.45186,
+   0.77687,
+   0.76828,
+   0.51862,
+   1.95296,
+   1.71111,
+   -0.32101,
+   -0.34123,
+   0.54608,
+   0.27204
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, -0.5 cm to the robot's left and +4.2 cm up from where it is now (path length 0.9 cm); in the top camera that is -1 px right and -12 px down. Gripper command: now 0.80 open; starts closing at +0.07 s and is shut (0.05) at +0.47 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7628,
+    0.2142,
+    0.9183
+   ],
+   "grasp_site_now_uv": [
+    231.8,
+    157.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7616,
+    0.2095,
+    0.9607
+   ],
+   "grasp_site_at_shut_uv": [
+    230.5,
+    145.5
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 2,
+   "close_done_frame": 14,
+   "path_len_cm": 0.9,
+   "path_uv_every_3_frames": [
+    [
+     229.8,
+     144.9
+    ],
+    [
+     229.8,
+     144.9
+    ],
+    [
+     229.9,
+     145.3
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ],
+    [
+     230.5,
+     145.5
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+{
+ "id": "s0202_1c759f54_l_166",
+ "task": "put_the_plastic_bottles_in_the_bin",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 107,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ],
+   [
+    -0.63813,
+    1.3501,
+    1.13303,
+    -0.32721,
+    0.38034,
+    -0.25358,
+    0.00037,
+    0.47882,
+    1.54015,
+    1.25639,
+    -0.29599,
+    -0.45373,
+    0.74897,
+    0.72068
+   ]
+  ],
+  "state_t": [
+   -0.50755,
+   1.06146,
+   1.02522,
+   -0.83639,
+   -0.21801,
+   -0.62657,
+   0.94639,
+   0.32254,
+   2.37297,
+   2.67357,
+   -0.69867,
+   0.10891,
+   0.14401,
+   0.48509
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +2.0 cm forward, -18.6 cm to the robot's left and +4.6 cm up from where it is now (path length 65.9 cm); in the top camera that is +84 px right and -19 px down. Gripper command: now 0.96 open; starts closing at +1.27 s and is shut (0.00) at +3.57 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.526,
+    0.1999,
+    0.9617
+   ],
+   "grasp_site_now_uv": [
+    226.4,
+    236.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5464,
+    0.0134,
+    1.0074
+   ],
+   "grasp_site_at_shut_uv": [
+    310.9,
+    217.3
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 38,
+   "close_done_frame": 107,
+   "path_len_cm": 65.9,
+   "path_uv_every_3_frames": [
+    [
+     226.9,
+     235.6
+    ],
+    [
+     227.0,
+     236.0
+    ],
+    [
+     226.4,
+     236.6
+    ],
+    [
+     224.7,
+     237.4
+    ],
+    [
+     220.9,
+     237.1
+    ],
+    [
+     213.3,
+     232.4
+    ],
+    [
+     205.3,
+     226.9
+    ],
+    [
+     204.3,
+     223.9
+    ],
+    [
+     201.6,
+     221.3
+    ],
+    [
+     201.5,
+     219.4
+    ],
+    [
+     203.6,
+     219.1
+    ],
+    [
+     205.7,
+     219.7
+    ],
+    [
+     207.9,
+     219.9
+    ],
+    [
+     211.1,
+     222.5
+    ],
+    [
+     211.4,
+     225.9
+    ],
+    [
+     212.1,
+     229.4
+    ],
+    [
+     212.8,
+     232.4
+    ],
+    [
+     212.1,
+     234.5
+    ],
+    [
+     212.4,
+     235.8
+    ],
+    [
+     211.7,
+     237.5
+    ],
+    [
+     210.4,
+     239.1
+    ],
+    [
+     208.7,
+     238.2
+    ],
+    [
+     208.1,
+     236.4
+    ],
+    [
+     207.2,
+     234.1
+    ],
+    [
+     207.5,
+     229.4
+    ],
+    [
+     213.4,
+     224.5
+    ],
+    [
+     229.5,
+     220.2
+    ],
+    [
+     248.8,
+     216.1
+    ],
+    [
+     265.3,
+     213.5
+    ],
+    [
+     278.6,
+     212.8
+    ],
+    [
+     287.9,
+     213.2
+    ],
+    [
+     297.0,
+     215.3
+    ],
+    [
+     305.0,
+     218.0
+    ],
+    [
+     307.9,
+     219.0
+    ],
+    [
+     310.2,
+     218.7
+    ],
+    [
+     310.9,
+     217.9
+    ],
+    [
+     310.9,
+     217.3
+    ],
+    [
+     310.9,
+     217.3
+    ],
+    [
+     310.9,
+     217.3
+    ],
+    [
+     310.9,
+     217.3
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0203_8be6027b_l_735/left_t.jpg b/public/samples/s0203_8be6027b_l_735/left_t.jpg
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diff --git a/public/samples/s0203_8be6027b_l_735/right_t-15.jpg b/public/samples/s0203_8be6027b_l_735/right_t-15.jpg
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diff --git a/public/samples/s0203_8be6027b_l_735/sample.json b/public/samples/s0203_8be6027b_l_735/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..2467c1e10e454f807ebbde00ceef502fe90e7024
--- /dev/null
+++ b/public/samples/s0203_8be6027b_l_735/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0203_8be6027b_l_735",
+ "task": "place_the_coffee_filter_in_the_dripper",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 65,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.67172,
+    0.9028,
+    0.64195,
+    -0.18659,
+    0.11778,
+    -0.70607,
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+    0.91267,
+    1.62714,
+    1.22565,
+    -0.81474,
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+    0.4205,
+    0.80718
+   ],
+   [
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+    0.42031,
+    0.80766
+   ],
+   [
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+    1.63057,
+    1.22717,
+    -0.81605,
+    0.25312,
+    0.42165,
+    0.80666
+   ],
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+    1.63176,
+    1.22867,
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+    0.42187,
+    0.80765
+   ],
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+   ],
+   [
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+    1.23025,
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+   ],
+   [
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+    1.63484,
+    1.23177,
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+    0.80768
+   ],
+   [
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+    1.23325,
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+    0.4245,
+    0.80654
+   ],
+   [
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+    1.63429,
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+    0.80814
+   ],
+   [
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+    0.42338,
+    0.80768
+   ],
+   [
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+    1.63585,
+    1.23484,
+    -0.82058,
+    0.2516,
+    0.42338,
+    0.80739
+   ],
+   [
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+    1.63665,
+    1.23485,
+    -0.82147,
+    0.25079,
+    0.42391,
+    0.80768
+   ],
+   [
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+    0.16349,
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+    0.59064,
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+    1.63824,
+    1.23485,
+    -0.8222,
+    0.2508,
+    0.42622,
+    0.80725
+   ],
+   [
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+    1.23485,
+    -0.82231,
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+    0.80596
+   ],
+   [
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+    1.63896,
+    1.23485,
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+    0.427,
+    0.80706
+   ],
+   [
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+    1.63886,
+    1.23318,
+    -0.82106,
+    0.25157,
+    0.4271,
+    0.80506
+   ],
+   [
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+    0.98502,
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+    1.63971,
+    1.23198,
+    -0.82069,
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+    0.42674,
+    0.80664
+   ],
+   [
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+    1.6398,
+    1.23064,
+    -0.81925,
+    0.25275,
+    0.4278,
+    0.80536
+   ],
+   [
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+    0.66565,
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+    0.17946,
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+    0.41716,
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+    1.63983,
+    1.22901,
+    -0.81773,
+    0.25163,
+    0.42743,
+    0.80704
+   ],
+   [
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+    0.97717,
+    0.66937,
+    -0.22739,
+    0.17679,
+    -0.70563,
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+    1.63963,
+    1.22872,
+    -0.81704,
+    0.25006,
+    0.42694,
+    0.80449
+   ],
+   [
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+    0.97571,
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+    1.64132,
+    1.22721,
+    -0.81609,
+    0.25004,
+    0.42729,
+    0.80501
+   ],
+   [
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+    0.16868,
+    -0.70261,
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+    1.64136,
+    1.22718,
+    -0.81646,
+    0.25004,
+    0.42856,
+    0.80539
+   ],
+   [
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+    0.16874,
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+    1.64287,
+    1.22788,
+    -0.81685,
+    0.25061,
+    0.42756,
+    0.80467
+   ],
+   [
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+    1.64174,
+    1.22865,
+    -0.81608,
+    0.24988,
+    0.42779,
+    0.80538
+   ],
+   [
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+   ],
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+   ],
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+    0.80553
+   ],
+   [
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+    0.30308,
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+    1.64136,
+    1.21184,
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+    0.25253,
+    0.4272,
+    0.80553
+   ],
+   [
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+    1.08844,
+    0.8621,
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+    0.30308,
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+    0.10138,
+    0.91078,
+    1.64136,
+    1.21184,
+    -0.81339,
+    0.25253,
+    0.4272,
+    0.80553
+   ],
+   [
+    -0.6808,
+    1.08844,
+    0.8621,
+    -0.47882,
+    0.30308,
+    -0.65956,
+    0.10138,
+    0.91078,
+    1.64136,
+    1.21184,
+    -0.81339,
+    0.25253,
+    0.4272,
+    0.80553
+   ]
+  ],
+  "state_t": [
+   -0.68074,
+   0.89017,
+   0.65061,
+   -0.23022,
+   0.10815,
+   -0.70821,
+   0.70024,
+   0.90848,
+   1.59094,
+   1.25525,
+   -0.81998,
+   0.22755,
+   0.42096,
+   0.80879
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -1.5 cm forward, -3.0 cm to the robot's left and -1.1 cm up from where it is now (path length 9.9 cm); in the top camera that is +14 px right and +9 px down. Gripper command: now 0.72 open; starts closing at +0.13 s and is shut (0.10) at +2.17 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4918,
+    0.0926,
+    0.9593
+   ],
+   "grasp_site_now_uv": [
+    284.4,
+    251.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4767,
+    0.0631,
+    0.9482
+   ],
+   "grasp_site_at_shut_uv": [
+    298.0,
+    260.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 65,
+   "path_len_cm": 9.9,
+   "path_uv_every_3_frames": [
+    [
+     285.4,
+     249.3
+    ],
+    [
+     288.4,
+     249.4
+    ],
+    [
+     290.4,
+     249.8
+    ],
+    [
+     290.8,
+     250.0
+    ],
+    [
+     291.9,
+     251.7
+    ],
+    [
+     291.5,
+     253.7
+    ],
+    [
+     291.0,
+     254.6
+    ],
+    [
+     289.7,
+     253.6
+    ],
+    [
+     290.4,
+     251.9
+    ],
+    [
+     291.6,
+     250.7
+    ],
+    [
+     292.3,
+     251.0
+    ],
+    [
+     293.9,
+     252.8
+    ],
+    [
+     295.5,
+     256.7
+    ],
+    [
+     295.6,
+     259.4
+    ],
+    [
+     296.2,
+     260.2
+    ],
+    [
+     297.4,
+     260.2
+    ],
+    [
+     298.5,
+     260.1
+    ],
+    [
+     298.3,
+     260.4
+    ],
+    [
+     297.7,
+     260.8
+    ],
+    [
+     297.8,
+     261.2
+    ],
+    [
+     297.4,
+     260.9
+    ],
+    [
+     297.4,
+     260.5
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ],
+    [
+     298.0,
+     260.1
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0204_8875a33e_r_3917/sample.json b/public/samples/s0204_8875a33e_r_3917/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8db2cd6ad9005fda208bd24974487f136222a15
--- /dev/null
+++ b/public/samples/s0204_8875a33e_r_3917/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0204_8875a33e_r_3917",
+ "task": "pack_the_cookies",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 46,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ],
+   [
+    -0.79317,
+    2.09581,
+    1.37424,
+    -0.05641,
+    0.30545,
+    -0.9567,
+    0.97151,
+    0.38118,
+    1.91775,
+    0.75177,
+    0.18912,
+    -0.35753,
+    0.88567,
+    0.04643
+   ]
+  ],
+  "state_t": [
+   -0.81044,
+   2.09564,
+   1.425,
+   -0.10395,
+   0.28363,
+   -0.98135,
+   0.97511,
+   0.46597,
+   1.44369,
+   0.6735,
+   0.1524,
+   -0.27867,
+   0.87263,
+   0.65298
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.7 cm forward, -1.9 cm to the robot's left and -14.3 cm up from where it is now (path length 18.8 cm); in the top camera that is +2 px right and +18 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.05) at +1.53 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5868,
+    -0.0895,
+    0.8608
+   ],
+   "grasp_site_now_uv": [
+    351.3,
+    234.9
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5942,
+    -0.109,
+    0.7174
+   ],
+   "grasp_site_at_shut_uv": [
+    353.6,
+    252.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 46,
+   "path_len_cm": 18.8,
+   "path_uv_every_3_frames": [
+    [
+     349.2,
+     226.8
+    ],
+    [
+     348.6,
+     224.8
+    ],
+    [
+     348.4,
+     223.2
+    ],
+    [
+     347.4,
+     223.0
+    ],
+    [
+     347.4,
+     224.6
+    ],
+    [
+     347.7,
+     227.0
+    ],
+    [
+     348.0,
+     229.4
+    ],
+    [
+     348.5,
+     231.9
+    ],
+    [
+     348.8,
+     234.4
+    ],
+    [
+     349.6,
+     237.3
+    ],
+    [
+     350.0,
+     239.2
+    ],
+    [
+     350.3,
+     241.4
+    ],
+    [
+     350.9,
+     244.0
+    ],
+    [
+     351.7,
+     246.9
+    ],
+    [
+     352.4,
+     249.1
+    ],
+    [
+     353.5,
+     251.7
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ],
+    [
+     353.6,
+     252.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0205_2b4e68b0_l_2026/sample.json b/public/samples/s0205_2b4e68b0_l_2026/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e7a6aca41c4d957c9d3a1d6c85ff23f6c4a832
--- /dev/null
+++ b/public/samples/s0205_2b4e68b0_l_2026/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0205_2b4e68b0_l_2026",
+ "task": "place_the_coffee_filter_in_the_dripper",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 64,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.51853,
+    0.94526,
+    1.30255,
+    -0.44614,
+    0.72242,
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+    1.21817,
+    0.03942,
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+   ],
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+   ],
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+   ],
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+    1.12439,
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+   ],
+   [
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+   ],
+   [
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+   ],
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+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+    1.00784,
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+    -0.27153,
+    0.0511
+   ],
+   [
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+    1.00784,
+    1.14895,
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+    -0.88821,
+    -0.27153,
+    0.0511
+   ],
+   [
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+    1.27323,
+    -0.54303,
+    0.75179,
+    0.63053,
+    0.0,
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+    1.00784,
+    1.14895,
+    -0.03675,
+    -0.88821,
+    -0.27153,
+    0.0511
+   ]
+  ],
+  "state_t": [
+   -0.58042,
+   1.10685,
+   1.36282,
+   -0.39464,
+   0.35534,
+   -0.25425,
+   0.88558,
+   0.73911,
+   1.2789,
+   1.33154,
+   -0.10281,
+   0.14286,
+   0.05627,
+   0.0573
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -14.1 cm forward, -3.4 cm to the robot's left and -2.4 cm up from where it is now (path length 15.8 cm); in the top camera that is +20 px right and +88 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.00) at +2.13 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5168,
+    0.066,
+    1.1879
+   ],
+   "grasp_site_now_uv": [
+    272.5,
+    166.6
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.3763,
+    0.0324,
+    1.1637
+   ],
+   "grasp_site_at_shut_uv": [
+    292.7,
+    254.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 64,
+   "path_len_cm": 15.8,
+   "path_uv_every_3_frames": [
+    [
+     261.5,
+     205.0
+    ],
+    [
+     256.1,
+     221.7
+    ],
+    [
+     257.1,
+     234.7
+    ],
+    [
+     260.3,
+     240.7
+    ],
+    [
+     262.8,
+     237.1
+    ],
+    [
+     267.0,
+     233.6
+    ],
+    [
+     272.7,
+     236.0
+    ],
+    [
+     277.7,
+     242.3
+    ],
+    [
+     280.9,
+     245.6
+    ],
+    [
+     283.8,
+     244.7
+    ],
+    [
+     286.6,
+     242.2
+    ],
+    [
+     289.6,
+     242.2
+    ],
+    [
+     292.1,
+     244.0
+    ],
+    [
+     293.7,
+     246.3
+    ],
+    [
+     293.3,
+     247.7
+    ],
+    [
+     292.3,
+     249.8
+    ],
+    [
+     291.2,
+     252.1
+    ],
+    [
+     291.4,
+     252.9
+    ],
+    [
+     291.7,
+     254.0
+    ],
+    [
+     291.9,
+     256.3
+    ],
+    [
+     292.5,
+     256.3
+    ],
+    [
+     292.5,
+     255.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ],
+    [
+     292.7,
+     254.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0206_03fe0bdc_r_48/sample.json b/public/samples/s0206_03fe0bdc_r_48/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0013118329c5e68ad263cb47203f5dda336d464
--- /dev/null
+++ b/public/samples/s0206_03fe0bdc_r_48/sample.json
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+{
+ "id": "s0206_03fe0bdc_r_48",
+ "task": "place_and_organize_the_pasta_boxes_and_bags_onto_the_shelf",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 22,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
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+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ],
+   [
+    -0.82988,
+    0.63047,
+    0.98808,
+    -0.82672,
+    -0.72241,
+    -0.9678,
+    0.99803,
+    1.25019,
+    1.57822,
+    1.07957,
+    -0.13499,
+    0.42042,
+    -0.04427,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.82532,
+   0.72995,
+   1.06146,
+   -0.76238,
+   -0.60292,
+   -0.85813,
+   0.99668,
+   1.24723,
+   1.6722,
+   1.00042,
+   -0.21992,
+   0.20848,
+   0.07649,
+   0.99955
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.9 cm forward, +1.2 cm to the robot's left and +9.4 cm up from where it is now (path length 10.0 cm); in the top camera that is -9 px right and -36 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.00) at +0.73 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4216,
+    0.0834,
+    0.8341
+   ],
+   "grasp_site_now_uv": [
+    283.6,
+    307.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4603,
+    0.0957,
+    0.9278
+   ],
+   "grasp_site_at_shut_uv": [
+    274.5,
+    271.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 22,
+   "path_len_cm": 10.0,
+   "path_uv_every_3_frames": [
+    [
+     286.6,
+     297.5
+    ],
+    [
+     285.4,
+     296.1
+    ],
+    [
+     284.8,
+     294.5
+    ],
+    [
+     285.8,
+     292.2
+    ],
+    [
+     284.8,
+     288.4
+    ],
+    [
+     284.4,
+     284.7
+    ],
+    [
+     283.2,
+     278.7
+    ],
+    [
+     279.3,
+     273.3
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ],
+    [
+     274.5,
+     271.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0207_3c253aa6_r_3527/overlay_t.jpg b/public/samples/s0207_3c253aa6_r_3527/overlay_t.jpg
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diff --git a/public/samples/s0207_3c253aa6_r_3527/right_t.jpg b/public/samples/s0207_3c253aa6_r_3527/right_t.jpg
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diff --git a/public/samples/s0207_3c253aa6_r_3527/sample.json b/public/samples/s0207_3c253aa6_r_3527/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f9da00811c709a23acc5df55d6bf883bf4cc66
--- /dev/null
+++ b/public/samples/s0207_3c253aa6_r_3527/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0207_3c253aa6_r_3527",
+ "task": "place_and_organize_the_shoes_onto_the_shoe_shelf",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 24,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
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+    0.99402,
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+    1.55866,
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   [
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+   ],
+   [
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+    1.73799,
+    1.54012,
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+    0.22398,
+    0.23095
+   ],
+   [
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+    1.54012,
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+    0.78995,
+    0.22398,
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+   ]
+  ],
+  "state_t": [
+   0.48314,
+   0.99508,
+   0.72156,
+   -0.82837,
+   0.08259,
+   -0.67197,
+   0.90704,
+   0.3645,
+   1.77634,
+   1.65541,
+   -0.34352,
+   0.82837,
+   0.32139,
+   0.8762
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.2 cm forward, +1.3 cm to the robot's left and +0.2 cm up from where it is now (path length 4.6 cm); in the top camera that is -6 px right and -1 px down. Gripper command: now 0.88 open; starts closing at +0.00 s and is shut (0.23) at +0.80 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.758,
+    -0.2512,
+    1.0678
+   ],
+   "grasp_site_now_uv": [
+    449.3,
+    115.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7601,
+    -0.2379,
+    1.0697
+   ],
+   "grasp_site_at_shut_uv": [
+    442.9,
+    114.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 24,
+   "path_len_cm": 4.6,
+   "path_uv_every_3_frames": [
+    [
+     454.2,
+     116.4
+    ],
+    [
+     453.4,
+     118.1
+    ],
+    [
+     452.4,
+     119.7
+    ],
+    [
+     452.0,
+     119.5
+    ],
+    [
+     451.0,
+     119.5
+    ],
+    [
+     448.0,
+     120.0
+    ],
+    [
+     445.3,
+     116.4
+    ],
+    [
+     443.1,
+     114.2
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ],
+    [
+     442.9,
+     114.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0208_1bc08f3a_r_1693/sample.json b/public/samples/s0208_1bc08f3a_r_1693/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a78653fdec6c4367d4ecfe1fbdde09b95cc933
--- /dev/null
+++ b/public/samples/s0208_1bc08f3a_r_1693/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0208_1bc08f3a_r_1693",
+ "task": "put_the_phone_into_the_phone_case",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 35,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ],
+   [
+    -0.93736,
+    0.95326,
+    0.85015,
+    0.3912,
+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ],
+   [
+    -0.93736,
+    0.95326,
+    0.85015,
+    0.3912,
+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ],
+   [
+    -0.93736,
+    0.95326,
+    0.85015,
+    0.3912,
+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ],
+   [
+    -0.93736,
+    0.95326,
+    0.85015,
+    0.3912,
+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ],
+   [
+    -0.93736,
+    0.95326,
+    0.85015,
+    0.3912,
+    0.62872,
+    0.09355,
+    0.0,
+    1.14147,
+    1.2717,
+    1.33456,
+    -0.12338,
+    -0.37925,
+    -0.06525,
+    0.01478
+   ]
+  ],
+  "state_t": [
+   -0.93938,
+   1.07366,
+   0.89017,
+   0.39311,
+   0.19398,
+   -0.12036,
+   0.15663,
+   1.31971,
+   1.36397,
+   1.08587,
+   0.29622,
+   0.5045,
+   -0.07153,
+   0.97053
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -7.4 cm forward, -0.3 cm to the robot's left and +6.1 cm up from where it is now (path length 11.1 cm); in the top camera that is -4 px right and +15 px down. Gripper command: now 0.99 open; starts closing at +0.17 s and is shut (0.01) at +1.17 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4416,
+    0.0964,
+    1.1168
+   ],
+   "grasp_site_now_uv": [
+    281.9,
+    228.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.3678,
+    0.093,
+    1.1775
+   ],
+   "grasp_site_at_shut_uv": [
+    277.4,
+    243.3
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 5,
+   "close_done_frame": 35,
+   "path_len_cm": 11.1,
+   "path_uv_every_3_frames": [
+    [
+     283.1,
+     233.7
+    ],
+    [
+     287.1,
+     237.2
+    ],
+    [
+     289.0,
+     242.4
+    ],
+    [
+     288.1,
+     247.2
+    ],
+    [
+     286.4,
+     249.4
+    ],
+    [
+     284.2,
+     248.0
+    ],
+    [
+     280.9,
+     246.3
+    ],
+    [
+     278.2,
+     245.3
+    ],
+    [
+     276.0,
+     244.9
+    ],
+    [
+     275.5,
+     244.2
+    ],
+    [
+     276.2,
+     243.9
+    ],
+    [
+     277.2,
+     243.5
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ],
+    [
+     277.4,
+     243.3
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0209_8f375293_r_1102/right_t-15.jpg b/public/samples/s0209_8f375293_r_1102/right_t-15.jpg
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diff --git a/public/samples/s0209_8f375293_r_1102/right_t.jpg b/public/samples/s0209_8f375293_r_1102/right_t.jpg
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diff --git a/public/samples/s0209_8f375293_r_1102/sample.json b/public/samples/s0209_8f375293_r_1102/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..795a2838f156894134bf836a975a322d2bca1b78
--- /dev/null
+++ b/public/samples/s0209_8f375293_r_1102/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0209_8f375293_r_1102",
+ "task": "sort_the_legos_into_containers_by_color",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 86,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.4693,
+    0.42185,
+    0.53991,
+    -0.28542,
+    0.2255,
+    -0.4594,
+    0.99147,
+    0.79287,
+    1.64273,
+    1.26291,
+    -0.30664,
+    -0.09927,
+    0.05161,
+    0.99546
+   ],
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+    1.60535,
+    1.20891,
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+    -0.00981,
+    0.99555
+   ],
+   [
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+    1.56357,
+    1.15212,
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+    -0.06046,
+    0.99539
+   ],
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+    1.51803,
+    1.09229,
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+   ],
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+    1.48283,
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+   ],
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+    1.46087,
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+   ],
+   [
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+    1.4312,
+    0.98355,
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+   ],
+   [
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+    0.43392,
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+    1.40043,
+    0.93471,
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+    -0.07169,
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+    0.99682
+   ],
+   [
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+   ],
+   [
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+    1.35226,
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+   ],
+   [
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+    1.33846,
+    0.83058,
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+    0.99542
+   ],
+   [
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+    0.82,
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+    0.99657
+   ],
+   [
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+   ],
+   [
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+   ],
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+    0.99542
+   ],
+   [
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+    1.35966,
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+    -0.41928,
+    0.99556
+   ],
+   [
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+   ],
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+    1.40263,
+    0.81602,
+    -0.10856,
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+    0.99542
+   ],
+   [
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+    1.43545,
+    0.84345,
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+    -0.18424,
+    -0.39326,
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+   ],
+   [
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+    0.88022,
+    -0.17426,
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+   ],
+   [
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+    0.91072,
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+    0.99546
+   ],
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+   ],
+   [
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+   ],
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+   ],
+   [
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+   ],
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+   ],
+   [
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+    0.29545
+   ],
+   [
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+    1.56471,
+    1.02108,
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+    -0.146,
+    -0.27013,
+    0.29545
+   ],
+   [
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+    0.24697,
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+    0.99099,
+    0.99404,
+    1.56471,
+    1.02108,
+    -0.41814,
+    -0.146,
+    -0.27013,
+    0.29545
+   ]
+  ],
+  "state_t": [
+   -0.4633,
+   0.43774,
+   0.5518,
+   -0.31682,
+   0.24548,
+   -0.4633,
+   0.99245,
+   0.78717,
+   1.72789,
+   1.39487,
+   -0.38281,
+   -0.12188,
+   0.22946,
+   0.99575
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -13.9 cm forward, -1.9 cm to the robot's left and -8.8 cm up from where it is now (path length 34.3 cm); in the top camera that is +8 px right and +70 px down. Gripper command: now 1.00 open; starts closing at +1.43 s and is shut (0.30) at +2.87 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5877,
+    0.0557,
+    0.9421
+   ],
+   "grasp_site_now_uv": [
+    300.6,
+    219.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4486,
+    0.0368,
+    0.854
+   ],
+   "grasp_site_at_shut_uv": [
+    308.8,
+    289.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 43,
+   "close_done_frame": 86,
+   "path_len_cm": 34.3,
+   "path_uv_every_3_frames": [
+    [
+     306.6,
+     224.9
+    ],
+    [
+     317.0,
+     226.5
+    ],
+    [
+     322.3,
+     231.4
+    ],
+    [
+     323.4,
+     244.4
+    ],
+    [
+     323.0,
+     253.9
+    ],
+    [
+     320.6,
+     265.1
+    ],
+    [
+     315.8,
+     272.8
+    ],
+    [
+     312.9,
+     276.4
+    ],
+    [
+     312.0,
+     285.1
+    ],
+    [
+     311.2,
+     292.6
+    ],
+    [
+     310.9,
+     296.6
+    ],
+    [
+     311.4,
+     297.8
+    ],
+    [
+     311.3,
+     297.4
+    ],
+    [
+     311.1,
+     296.1
+    ],
+    [
+     310.6,
+     295.9
+    ],
+    [
+     310.3,
+     295.4
+    ],
+    [
+     309.7,
+     295.3
+    ],
+    [
+     309.4,
+     295.2
+    ],
+    [
+     309.0,
+     296.0
+    ],
+    [
+     309.1,
+     296.8
+    ],
+    [
+     309.3,
+     298.0
+    ],
+    [
+     309.6,
+     298.9
+    ],
+    [
+     309.5,
+     299.2
+    ],
+    [
+     309.0,
+     300.7
+    ],
+    [
+     309.1,
+     301.7
+    ],
+    [
+     309.6,
+     301.3
+    ],
+    [
+     309.3,
+     299.2
+    ],
+    [
+     309.2,
+     295.8
+    ],
+    [
+     309.0,
+     291.7
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ],
+    [
+     308.8,
+     289.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0210_5a2a6fe4_l_1202/sample.json b/public/samples/s0210_5a2a6fe4_l_1202/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..5045116e782c6bb907e948071c930e9e6ed5fefd
--- /dev/null
+++ b/public/samples/s0210_5a2a6fe4_l_1202/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0210_5a2a6fe4_l_1202",
+ "task": "place_and_organize_the_chips_bags_onto_the_shelf",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
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+    -0.42491,
+    0.22402,
+    -0.90965,
+    0.41928,
+    0.90965,
+    0.38503,
+    0.98175,
+    -0.47707,
+    0.362,
+    0.57369,
+    0.99562
+   ],
+   [
+    -0.30373,
+    1.81935,
+    1.88071,
+    -0.42491,
+    0.22402,
+    -0.90965,
+    0.41928,
+    0.90965,
+    0.38503,
+    0.98175,
+    -0.47707,
+    0.362,
+    0.57369,
+    0.99562
+   ],
+   [
+    -0.30373,
+    1.81935,
+    1.88071,
+    -0.42491,
+    0.22402,
+    -0.90965,
+    0.41928,
+    0.90965,
+    0.38503,
+    0.98175,
+    -0.47707,
+    0.362,
+    0.57369,
+    0.99562
+   ],
+   [
+    -0.30373,
+    1.81935,
+    1.88071,
+    -0.42491,
+    0.22402,
+    -0.90965,
+    0.41928,
+    0.90965,
+    0.38503,
+    0.98175,
+    -0.47707,
+    0.362,
+    0.57369,
+    0.99562
+   ]
+  ],
+  "state_t": [
+   -0.26265,
+   1.82708,
+   1.8225,
+   -0.48543,
+   0.17529,
+   -1.01415,
+   0.98762,
+   0.90963,
+   0.38167,
+   1.01339,
+   -0.54532,
+   0.38663,
+   0.58385,
+   0.99303
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.5 cm forward, -3.0 cm to the robot's left and +4.5 cm up from where it is now (path length 7.7 cm); in the top camera that is +12 px right and -15 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.42) at +1.03 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7713,
+    0.1398,
+    1.0646
+   ],
+   "grasp_site_now_uv": [
+    257.4,
+    110.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7659,
+    0.1095,
+    1.1095
+   ],
+   "grasp_site_at_shut_uv": [
+    269.4,
+    94.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 31,
+   "path_len_cm": 7.7,
+   "path_uv_every_3_frames": [
+    [
+     246.8,
+     95.5
+    ],
+    [
+     248.2,
+     92.7
+    ],
+    [
+     249.2,
+     91.9
+    ],
+    [
+     251.7,
+     91.7
+    ],
+    [
+     253.5,
+     93.5
+    ],
+    [
+     255.8,
+     94.5
+    ],
+    [
+     259.3,
+     94.3
+    ],
+    [
+     264.2,
+     92.6
+    ],
+    [
+     267.2,
+     91.8
+    ],
+    [
+     268.8,
+     93.1
+    ],
+    [
+     270.0,
+     94.7
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ],
+    [
+     269.4,
+     94.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0211_bcf9b832_r_2033/sample.json b/public/samples/s0211_bcf9b832_r_2033/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f29e494793c13e1d66829c4974d667540bad44
--- /dev/null
+++ b/public/samples/s0211_bcf9b832_r_2033/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0211_bcf9b832_r_2033",
+ "task": "put_the_pillow_into_the_pillowcase",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 47,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.60743,
+    1.72556,
+    1.72412,
+    -0.41098,
+    -0.3005,
+    -0.13203,
+    0.52225,
+    0.43725,
+    1.77042,
+    1.50648,
+    -0.26529,
+    0.23929,
+    0.48936,
+    0.87033
+   ],
+   [
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+    1.72618,
+    1.5003,
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+    0.23778,
+    0.48327,
+    0.92711
+   ],
+   [
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+    1.7548,
+    1.72116,
+    -0.42183,
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+    1.70447,
+    1.49416,
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+    0.23625,
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+   ],
+   [
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+    0.48169,
+    0.96914
+   ],
+   [
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+    0.24536,
+    0.4756,
+    0.978
+   ],
+   [
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+    1.44521,
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+   ],
+   [
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+    1.5864,
+    1.42831,
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+    0.99993
+   ],
+   [
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+    1.56336,
+    1.39017,
+    -0.31292,
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+    1.0
+   ],
+   [
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+   ],
+   [
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+    1.0
+   ],
+   [
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+   ],
+   [
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+    1.0
+   ],
+   [
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+   ],
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+   ],
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+   ],
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+    1.0
+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+   ],
+   [
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+    1.26103,
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+    0.06302,
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+    0.00738
+   ],
+   [
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+    1.92696,
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+    0.14584,
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+    0.0,
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+    1.63048,
+    1.26103,
+    -0.22858,
+    0.06302,
+    0.50913,
+    0.00738
+   ]
+  ],
+  "state_t": [
+   -0.58347,
+   1.65503,
+   1.771,
+   -0.39387,
+   -0.07572,
+   -0.18635,
+   0.51618,
+   0.43736,
+   1.89765,
+   1.48795,
+   -0.23365,
+   0.30041,
+   0.51556,
+   0.58103
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -6.4 cm forward, +0.6 cm to the robot's left and +2.8 cm up from where it is now (path length 42.5 cm); in the top camera that is +0 px right and +14 px down. Gripper command: now 0.87 open; starts closing at +0.93 s and is shut (0.01) at +1.57 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7653,
+    -0.1258,
+    0.9297
+   ],
+   "grasp_site_now_uv": [
+    376.8,
+    153.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7011,
+    -0.1195,
+    0.9578
+   ],
+   "grasp_site_at_shut_uv": [
+    377.2,
+    167.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 28,
+   "close_done_frame": 47,
+   "path_len_cm": 42.5,
+   "path_uv_every_3_frames": [
+    [
+     378.6,
+     138.1
+    ],
+    [
+     391.9,
+     134.5
+    ],
+    [
+     403.0,
+     133.8
+    ],
+    [
+     406.6,
+     141.3
+    ],
+    [
+     409.5,
+     153.2
+    ],
+    [
+     409.0,
+     164.1
+    ],
+    [
+     407.6,
+     172.8
+    ],
+    [
+     407.9,
+     181.7
+    ],
+    [
+     407.8,
+     188.0
+    ],
+    [
+     404.5,
+     194.3
+    ],
+    [
+     399.2,
+     196.6
+    ],
+    [
+     392.3,
+     193.0
+    ],
+    [
+     381.4,
+     182.0
+    ],
+    [
+     364.3,
+     170.5
+    ],
+    [
+     355.6,
+     165.6
+    ],
+    [
+     370.2,
+     163.5
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ],
+    [
+     377.2,
+     167.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0212_f904c81f_r_1316/sample.json b/public/samples/s0212_f904c81f_r_1316/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..69faa1528c2f3bc81eacbbc06f2b186e1812659b
--- /dev/null
+++ b/public/samples/s0212_f904c81f_r_1316/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0212_f904c81f_r_1316",
+ "task": "pack_the_luggage",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 26,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.30066,
+    1.78864,
+    1.66138,
+    -0.04755,
+    0.34516,
+    -0.19328,
+    0.99215,
+    0.10888,
+    2.37906,
+    2.36989,
+    -0.64732,
+    0.01991,
+    0.48475,
+    0.57713
+   ],
+   [
+    -0.3037,
+    1.78862,
+    1.65523,
+    -0.04452,
+    0.34515,
+    -0.19024,
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+    0.20247,
+    0.6335,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.2924,
+   1.81449,
+   1.68441,
+   -0.07839,
+   0.35573,
+   -0.18826,
+   0.99303,
+   0.11006,
+   2.3291,
+   2.28294,
+   -0.65099,
+   0.06085,
+   0.53616,
+   0.55958
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.5 cm forward, -3.3 cm to the robot's left and -2.2 cm up from where it is now (path length 11.6 cm); in the top camera that is +10 px right and -3 px down. Gripper command: now 0.58 open; starts closing at +0.23 s and is shut (0.00) at +0.87 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.8857,
+    -0.2504,
+    0.9478
+   ],
+   "grasp_site_now_uv": [
+    527.5,
+    112.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.9206,
+    -0.2837,
+    0.9256
+   ],
+   "grasp_site_at_shut_uv": [
+    537.1,
+    109.6
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 7,
+   "close_done_frame": 26,
+   "path_len_cm": 11.6,
+   "path_uv_every_3_frames": [
+    [
+     524.3,
+     106.7
+    ],
+    [
+     523.0,
+     109.1
+    ],
+    [
+     521.8,
+     112.6
+    ],
+    [
+     520.7,
+     114.5
+    ],
+    [
+     518.9,
+     112.6
+    ],
+    [
+     518.2,
+     112.8
+    ],
+    [
+     520.7,
+     111.5
+    ],
+    [
+     527.0,
+     110.9
+    ],
+    [
+     534.1,
+     109.9
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ],
+    [
+     537.1,
+     109.6
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/public/samples/s0213_47175a6c_r_359/sample.json b/public/samples/s0213_47175a6c_r_359/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78c1515b5423a4309eda4473cf6c11da2f9adf9
--- /dev/null
+++ b/public/samples/s0213_47175a6c_r_359/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0213_47175a6c_r_359",
+ "task": "unload_the_mixed_dishes_from_the_dish_rack",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 33,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -1.11338,
+    0.45723,
+    0.75217,
+    -0.40028,
+    -0.50998,
+    -0.59291,
+    0.98466,
+    0.32215,
+    1.65433,
+    0.79662,
+    0.28382,
+    0.11547,
+    0.65544,
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+   ],
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+    1.64276,
+    0.78706,
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+    0.87081
+   ],
+   [
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+   ],
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+   ],
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+   ],
+   [
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+   ],
+   [
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+   ],
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+   ],
+   [
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+   ],
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+   ],
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+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+   ],
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+   ],
+   [
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+   ],
+   [
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+   ],
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+   ],
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+   ],
+   [
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+    1.68779,
+    0.80319,
+    0.2439,
+    0.32375,
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+    0.07125
+   ],
+   [
+    -1.10906,
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+    0.75929,
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+    -0.50371,
+    -0.61285,
+    0.9853,
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+    1.68779,
+    0.80319,
+    0.2439,
+    0.32375,
+    0.54541,
+    0.07125
+   ]
+  ],
+  "state_t": [
+   -1.11868,
+   0.45796,
+   0.74369,
+   -0.3996,
+   -0.48352,
+   -0.62734,
+   0.98381,
+   0.32635,
+   1.70462,
+   0.83143,
+   0.25082,
+   0.12684,
+   0.71698,
+   0.75016
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.3 cm forward, -3.9 cm to the robot's left and -0.1 cm up from where it is now (path length 9.9 cm); in the top camera that is +16 px right and +1 px down. Gripper command: now 0.85 open; starts closing at +0.13 s and is shut (0.07) at +1.10 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6911,
+    -0.1843,
+    0.835
+   ],
+   "grasp_site_now_uv": [
+    398.6,
+    202.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6882,
+    -0.2229,
+    0.8341
+   ],
+   "grasp_site_at_shut_uv": [
+    414.5,
+    204.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 33,
+   "path_len_cm": 9.9,
+   "path_uv_every_3_frames": [
+    [
+     400.2,
+     200.7
+    ],
+    [
+     400.2,
+     202.2
+    ],
+    [
+     400.9,
+     202.5
+    ],
+    [
+     402.8,
+     200.0
+    ],
+    [
+     401.9,
+     199.3
+    ],
+    [
+     400.7,
+     200.5
+    ],
+    [
+     402.0,
+     202.2
+    ],
+    [
+     404.1,
+     203.3
+    ],
+    [
+     406.3,
+     203.5
+    ],
+    [
+     409.3,
+     203.1
+    ],
+    [
+     412.5,
+     203.7
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ],
+    [
+     414.5,
+     204.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0214_243a8d2c_r_1386/sample.json b/public/samples/s0214_243a8d2c_r_1386/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..387ad80076a162a4509dc5fab96de4a02bdd8899
--- /dev/null
+++ b/public/samples/s0214_243a8d2c_r_1386/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0214_243a8d2c_r_1386",
+ "task": "take_the_phone_out_of_the_phone_case",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 79,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.94449,
+    1.77726,
+    0.8145,
+    -0.10568,
+    -0.24896,
+    -0.79081,
+    0.58132,
+    1.04157,
+    1.17688,
+    0.72095,
+    -0.38094,
+    0.32808,
+    0.70532,
+    0.99614
+   ],
+   [
+    -0.95082,
+    1.75882,
+    0.81032,
+    -0.09931,
+    -0.26218,
+    -0.77035,
+    0.56554,
+    1.04138,
+    1.16721,
+    0.72097,
+    -0.38529,
+    0.32786,
+    0.70655,
+    0.99733
+   ],
+   [
+    -0.95947,
+    1.74022,
+    0.8073,
+    -0.09486,
+    -0.27783,
+    -0.74728,
+    0.5496,
+    1.04155,
+    1.16025,
+    0.72308,
+    -0.38966,
+    0.32745,
+    0.70632,
+    0.99638
+   ],
+   [
+    -0.96727,
+    1.72332,
+    0.80482,
+    -0.09239,
+    -0.2909,
+    -0.72637,
+    0.52624,
+    1.04138,
+    1.15381,
+    0.72603,
+    -0.39692,
+    0.32683,
+    0.70668,
+    0.99708
+   ],
+   [
+    -0.97457,
+    1.70549,
+    0.80355,
+    -0.08729,
+    -0.30213,
+    -0.70458,
+    0.50688,
+    1.04155,
+    1.14975,
+    0.73234,
+    -0.40646,
+    0.32522,
+    0.7071,
+    0.99662
+   ],
+   [
+    -0.98066,
+    1.6906,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -5.0 cm forward, +11.1 cm to the robot's left and +8.0 cm up from where it is now (path length 28.0 cm); in the top camera that is -38 px right and +5 px down. Gripper command: now 1.00 open; starts closing at +1.10 s and is shut (0.00) at +2.63 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4623,
+    -0.0499,
+    0.8621
+   ],
+   "grasp_site_now_uv": [
+    340.9,
+    268.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4125,
+    0.0608,
+    0.9416
+   ],
+   "grasp_site_at_shut_uv": [
+    303.1,
+    273.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 33,
+   "close_done_frame": 79,
+   "path_len_cm": 28.0,
+   "path_uv_every_3_frames": [
+    [
+     344.2,
+     266.4
+    ],
+    [
+     344.9,
+     265.8
+    ],
+    [
+     344.6,
+     264.9
+    ],
+    [
+     342.9,
+     264.3
+    ],
+    [
+     341.3,
+     263.7
+    ],
+    [
+     341.2,
+     263.2
+    ],
+    [
+     341.0,
+     263.6
+    ],
+    [
+     338.8,
+     265.3
+    ],
+    [
+     333.3,
+     268.2
+    ],
+    [
+     327.5,
+     272.0
+    ],
+    [
+     322.2,
+     274.7
+    ],
+    [
+     316.6,
+     276.2
+    ],
+    [
+     310.9,
+     277.5
+    ],
+    [
+     305.7,
+     277.5
+    ],
+    [
+     302.8,
+     277.9
+    ],
+    [
+     301.5,
+     277.8
+    ],
+    [
+     300.1,
+     277.0
+    ],
+    [
+     299.4,
+     275.0
+    ],
+    [
+     299.9,
+     272.3
+    ],
+    [
+     299.9,
+     269.9
+    ],
+    [
+     299.4,
+     269.4
+    ],
+    [
+     298.8,
+     270.1
+    ],
+    [
+     298.8,
+     271.1
+    ],
+    [
+     299.3,
+     272.2
+    ],
+    [
+     299.9,
+     273.3
+    ],
+    [
+     300.8,
+     274.5
+    ],
+    [
+     302.6,
+     274.1
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ],
+    [
+     303.1,
+     273.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0215_a4aabe0d_r_1267/right_t-15.jpg b/public/samples/s0215_a4aabe0d_r_1267/right_t-15.jpg
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diff --git a/public/samples/s0215_a4aabe0d_r_1267/sample.json b/public/samples/s0215_a4aabe0d_r_1267/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f33eda1627c15debc839e93fe4a36066c70b45
--- /dev/null
+++ b/public/samples/s0215_a4aabe0d_r_1267/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0215_a4aabe0d_r_1267",
+ "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 106,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -1.1106,
+    1.29621,
+    1.06767,
+    -0.25618,
+    -0.32372,
+    -0.3114,
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+    1.52794,
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+   ],
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+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
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+   ],
+   [
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+    0.92195,
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+    0.34197,
+    0.31898,
+    0.40175
+   ]
+  ],
+  "state_t": [
+   -1.108,
+   1.32811,
+   1.07824,
+   -0.29774,
+   -0.31147,
+   -0.31453,
+   0.88955,
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+   1.54135,
+   0.88979,
+   -0.62085,
+   0.46788,
+   0.5251,
+   0.99351
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +9.8 cm forward, -2.9 cm to the robot's left and +6.9 cm up from where it is now (path length 42.6 cm); in the top camera that is +16 px right and -54 px down. Gripper command: now 1.00 open; starts closing at +1.60 s and is shut (0.40) at +3.53 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4006,
+    -0.5927,
+    0.8113
+   ],
+   "grasp_site_now_uv": [
+    595.6,
+    320.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4986,
+    -0.6214,
+    0.8802
+   ],
+   "grasp_site_at_shut_uv": [
+    612.1,
+    266.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 48,
+   "close_done_frame": 106,
+   "path_len_cm": 42.6,
+   "path_uv_every_3_frames": [
+    [
+     623.0,
+     310.6
+    ],
+    [
+     620.8,
+     308.8
+    ],
+    [
+     615.5,
+     303.4
+    ],
+    [
+     609.1,
+     298.0
+    ],
+    [
+     618.6,
+     290.9
+    ],
+    [
+     621.2,
+     289.9
+    ],
+    [
+     626.0,
+     287.9
+    ],
+    [
+     630.0,
+     287.8
+    ],
+    [
+     635.1,
+     288.9
+    ],
+    [
+     635.2,
+     289.5
+    ],
+    [
+     638.2,
+     288.8
+    ],
+    [
+     631.9,
+     288.5
+    ],
+    [
+     625.3,
+     289.5
+    ],
+    [
+     627.4,
+     291.3
+    ],
+    [
+     627.0,
+     292.0
+    ],
+    [
+     629.0,
+     293.7
+    ],
+    [
+     629.7,
+     297.9
+    ],
+    [
+     629.1,
+     300.2
+    ],
+    [
+     628.9,
+     300.1
+    ],
+    [
+     625.9,
+     298.9
+    ],
+    [
+     624.9,
+     296.9
+    ],
+    [
+     623.4,
+     298.1
+    ],
+    [
+     620.6,
+     298.3
+    ],
+    [
+     620.8,
+     297.5
+    ],
+    [
+     620.0,
+     298.1
+    ],
+    [
+     619.6,
+     298.3
+    ],
+    [
+     620.0,
+     299.3
+    ],
+    [
+     619.0,
+     299.6
+    ],
+    [
+     619.3,
+     298.7
+    ],
+    [
+     617.7,
+     299.4
+    ],
+    [
+     619.6,
+     297.5
+    ],
+    [
+     621.7,
+     292.5
+    ],
+    [
+     620.3,
+     286.5
+    ],
+    [
+     618.0,
+     281.4
+    ],
+    [
+     617.4,
+     277.3
+    ],
+    [
+     613.7,
+     268.3
+    ],
+    [
+     612.1,
+     266.1
+    ],
+    [
+     612.1,
+     266.1
+    ],
+    [
+     612.1,
+     266.1
+    ],
+    [
+     612.1,
+     266.1
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0216_d0e786a9_r_849/sample.json b/public/samples/s0216_d0e786a9_r_849/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d2c6b55096f8b7522d3506bde74d0c38305fd5
--- /dev/null
+++ b/public/samples/s0216_d0e786a9_r_849/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0216_d0e786a9_r_849",
+ "task": "place_and_organize_the_beverage_onto_the_shelf",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 41,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.81915,
+    0.48627,
+    0.28685,
+    0.13192,
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+    0.9167
+   ],
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+    0.88202,
+    0.3422,
+    0.91673
+   ],
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+   ],
+   [
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+    1.39738,
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+    0.07521,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +3.3 cm forward, +0.4 cm to the robot's left and -3.5 cm up from where it is now (path length 8.8 cm); in the top camera that is -6 px right and -0 px down. Gripper command: now 0.92 open; starts closing at +0.27 s and is shut (0.50) at +1.37 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.654,
+    -0.1206,
+    1.099
+   ],
+   "grasp_site_now_uv": [
+    489.8,
+    139.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6872,
+    -0.1166,
+    1.0638
+   ],
+   "grasp_site_at_shut_uv": [
+    484.3,
+    139.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 41,
+   "path_len_cm": 8.8,
+   "path_uv_every_3_frames": [
+    [
+     494.5,
+     141.0
+    ],
+    [
+     491.7,
+     141.0
+    ],
+    [
+     489.9,
+     143.2
+    ],
+    [
+     489.4,
+     144.0
+    ],
+    [
+     487.3,
+     143.9
+    ],
+    [
+     485.3,
+     144.7
+    ],
+    [
+     484.4,
+     146.1
+    ],
+    [
+     483.7,
+     147.1
+    ],
+    [
+     484.2,
+     146.5
+    ],
+    [
+     485.0,
+     145.3
+    ],
+    [
+     485.4,
+     143.7
+    ],
+    [
+     486.5,
+     142.3
+    ],
+    [
+     485.4,
+     141.5
+    ],
+    [
+     484.3,
+     140.2
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ],
+    [
+     484.3,
+     139.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0217_ec382b70_r_870/sample.json b/public/samples/s0217_ec382b70_r_870/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25d21156a46eb7f69011b9b3826eb37a4ea65aa
--- /dev/null
+++ b/public/samples/s0217_ec382b70_r_870/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0217_ec382b70_r_870",
+ "task": "load_the_plates_into_the_dish_rack",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 18,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    0.20095,
+    0.59794,
+    0.81764,
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+   ],
+   [
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+   ],
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+   ],
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+   [
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+   ],
+   [
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+   ]
+  ],
+  "state_t": [
+   0.20352,
+   0.51747,
+   0.78412,
+   0.10815,
+   0.52205,
+   -0.34771,
+   0.9889,
+   0.89704,
+   0.96571,
+   0.67197,
+   0.19932,
+   -0.13561,
+   0.33703,
+   0.99398
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.0 cm forward, -1.6 cm to the robot's left and +3.7 cm up from where it is now (path length 2.8 cm); in the top camera that is +10 px right and -11 px down. Gripper command: now 1.00 open; starts closing at +0.07 s and is shut (0.18) at +0.60 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4611,
+    -0.0119,
+    1.0448
+   ],
+   "grasp_site_now_uv": [
+    329.7,
+    242.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4612,
+    -0.0281,
+    1.0816
+   ],
+   "grasp_site_at_shut_uv": [
+    339.7,
+    231.4
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 2,
+   "close_done_frame": 18,
+   "path_len_cm": 2.8,
+   "path_uv_every_3_frames": [
+    [
+     327.1,
+     235.1
+    ],
+    [
+     326.9,
+     235.5
+    ],
+    [
+     327.5,
+     235.7
+    ],
+    [
+     330.0,
+     234.6
+    ],
+    [
+     333.5,
+     233.8
+    ],
+    [
+     336.6,
+     232.8
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ],
+    [
+     339.7,
+     231.4
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0218_6214e1ab_r_2424/sample.json b/public/samples/s0218_6214e1ab_r_2424/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fea3eacf62b8c08ad97cf9187d5fad158c24526
--- /dev/null
+++ b/public/samples/s0218_6214e1ab_r_2424/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0218_6214e1ab_r_2424",
+ "task": "place_the_coffee_filter_in_the_dripper",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 64,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.43963,
+    1.21429,
+    1.38781,
+    -0.6595,
+    0.20906,
+    0.24779,
+    0.78309,
+    -0.0901,
+    1.22331,
+    1.10986,
+    -0.70055,
+    -0.31192,
+    -0.95976,
+    0.79182
+   ],
+   [
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+    1.20711,
+    1.37964,
+    -0.65307,
+    0.20204,
+    0.25135,
+    0.78305,
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+    1.25169,
+    1.10848,
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+    -0.29741,
+    -1.00302,
+    0.79127
+   ],
+   [
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+    1.20646,
+    1.37567,
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+    0.19917,
+    0.25231,
+    0.78305,
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+    1.26285,
+    1.10324,
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+    -1.01835,
+    0.78764
+   ],
+   [
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+    1.09605,
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+    0.78445
+   ],
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+    1.2698,
+    1.09605,
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+   ],
+   [
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+   ],
+   [
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+    1.27754,
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+    0.78297
+   ],
+   [
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+    1.20404,
+    1.36703,
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+    1.27873,
+    1.07659,
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+    -0.25504,
+    -1.07396,
+    0.78085
+   ],
+   [
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+    1.20339,
+    1.367,
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+    0.20447,
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+    0.78305,
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+    1.28252,
+    1.06551,
+    -0.78486,
+    -0.24702,
+    -1.08263,
+    0.78086
+   ],
+   [
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+    1.20293,
+    1.36796,
+    -0.64887,
+    0.20599,
+    0.26076,
+    0.78305,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -3.6 cm forward, +9.1 cm to the robot's left and -9.8 cm up from where it is now (path length 34.6 cm); in the top camera that is -45 px right and +36 px down. Gripper command: now 0.79 open; starts closing at +0.20 s and is shut (0.03) at +2.13 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
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+    -0.2368,
+    0.9892
+   ],
+   "grasp_site_now_uv": [
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+   ],
+   "grasp_site_at_shut_xyz_m": [
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+   ],
+   "grasp_site_at_shut_uv": [
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+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 6,
+   "close_done_frame": 64,
+   "path_len_cm": 34.6,
+   "path_uv_every_3_frames": [
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+    [
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+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+++ b/public/samples/s0219_44f10ba9_l_4318/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0219_44f10ba9_l_4318",
+ "task": "load_the_plates_into_the_dish_rack",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 80,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    -0.56604,
+    0.49558,
+    0.27783
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+    1.88976,
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+    0.33278,
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+    0.49558,
+    0.27783
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+    0.18188,
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+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ],
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+    1.88976,
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+    0.33278,
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+    0.49558,
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+   [
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+    -0.56604,
+    0.49558,
+    0.27783
+   ],
+   [
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+    0.50315,
+    0.20862,
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+    0.18188,
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+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ],
+   [
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+    1.35613,
+    0.50315,
+    0.20862,
+    0.23317,
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+    0.18188,
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+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ],
+   [
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+    1.35613,
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+    1.88976,
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+    0.33278,
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+    0.49558,
+    0.27783
+   ],
+   [
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+    0.20862,
+    0.23317,
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+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ],
+   [
+    -0.46019,
+    1.35613,
+    0.50315,
+    0.20862,
+    0.23317,
+    -0.67199,
+    0.18188,
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+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ],
+   [
+    -0.46019,
+    1.35613,
+    0.50315,
+    0.20862,
+    0.23317,
+    -0.67199,
+    0.18188,
+    0.50621,
+    1.88976,
+    0.82221,
+    0.33278,
+    -0.56604,
+    0.49558,
+    0.27783
+   ]
+  ],
+  "state_t": [
+   -0.60826,
+   1.38647,
+   0.60788,
+   0.03033,
+   0.06542,
+   -0.66396,
+   0.78624,
+   0.3687,
+   1.66609,
+   0.77573,
+   0.08106,
+   -0.3191,
+   0.15316,
+   0.42431
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.2 cm forward, +2.3 cm to the robot's left and +0.5 cm up from where it is now (path length 21.4 cm); in the top camera that is -10 px right and -6 px down. Gripper command: now 0.79 open; starts closing at +0.97 s and is shut (0.18) at +2.67 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5471,
+    0.0913,
+    0.8284
+   ],
+   "grasp_site_now_uv": [
+    385.7,
+    257.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5589,
+    0.1143,
+    0.8331
+   ],
+   "grasp_site_at_shut_uv": [
+    375.8,
+    251.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 29,
+   "close_done_frame": 80,
+   "path_len_cm": 21.4,
+   "path_uv_every_3_frames": [
+    [
+     385.3,
+     248.6
+    ],
+    [
+     385.6,
+     248.4
+    ],
+    [
+     385.3,
+     250.8
+    ],
+    [
+     385.5,
+     254.3
+    ],
+    [
+     387.9,
+     255.5
+    ],
+    [
+     389.1,
+     256.3
+    ],
+    [
+     389.1,
+     256.6
+    ],
+    [
+     386.9,
+     255.2
+    ],
+    [
+     381.2,
+     257.4
+    ],
+    [
+     376.4,
+     257.4
+    ],
+    [
+     370.0,
+     258.6
+    ],
+    [
+     366.6,
+     260.7
+    ],
+    [
+     366.5,
+     260.2
+    ],
+    [
+     369.7,
+     262.9
+    ],
+    [
+     371.8,
+     266.1
+    ],
+    [
+     373.9,
+     266.4
+    ],
+    [
+     375.4,
+     266.6
+    ],
+    [
+     373.9,
+     268.0
+    ],
+    [
+     373.5,
+     267.5
+    ],
+    [
+     373.6,
+     268.9
+    ],
+    [
+     374.1,
+     268.1
+    ],
+    [
+     374.7,
+     267.6
+    ],
+    [
+     376.5,
+     265.9
+    ],
+    [
+     378.3,
+     262.5
+    ],
+    [
+     379.0,
+     255.3
+    ],
+    [
+     377.1,
+     254.1
+    ],
+    [
+     376.2,
+     251.5
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ],
+    [
+     375.8,
+     251.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/public/samples/s0220_b730d58f_l_209/sample.json b/public/samples/s0220_b730d58f_l_209/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11682fb6e143ff1f40921dc4f3bb8bcfb5cdb99
--- /dev/null
+++ b/public/samples/s0220_b730d58f_l_209/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0220_b730d58f_l_209",
+ "task": "sort_the_stationery_into_containers",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 26,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.06903,
+    0.47081,
+    0.28992,
+    -0.29463,
+    0.28839,
+    -0.73938,
+    0.98427,
+    0.94033,
+    2.08468,
+    1.84078,
+    -0.01229,
+    -0.24855,
+    -0.4908,
+    0.54152
+   ],
+   [
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+    2.08772,
+    1.8423,
+    -0.01227,
+    -0.23787,
+    -0.49239,
+    0.57944
+   ],
+   [
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+    2.08772,
+    1.8423,
+    -0.01227,
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+    0.57944
+   ],
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+    2.08775,
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+    0.64585
+   ],
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+    2.08775,
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+    -0.01074,
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+   ],
+   [
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+    0.65986
+   ],
+   [
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+    0.65986
+   ],
+   [
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+    2.08776,
+    1.8423,
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+    0.65986
+   ],
+   [
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+    2.07712,
+    1.84079,
+    -0.01378,
+    -0.23165,
+    -0.50011,
+    0.65986
+   ],
+   [
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+    2.07701,
+    1.84078,
+    -0.01229,
+    -0.23163,
+    -0.5016,
+    0.63785
+   ],
+   [
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+    2.05575,
+    1.84078,
+    -0.01379,
+    -0.24074,
+    -0.49857,
+    0.5804
+   ],
+   [
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+    2.04794,
+    1.84078,
+    -0.01381,
+    -0.24691,
+    -0.49703,
+    0.53581
+   ],
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.1 cm forward, -0.6 cm to the robot's left and -0.5 cm up from where it is now (path length 1.9 cm); in the top camera that is +4 px right and -4 px down. Gripper command: now 0.98 open; starts closing at +0.27 s and is shut (0.41) at +0.87 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
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+    0.25,
+    0.8897
+   ],
+   "grasp_site_now_uv": [
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+   ],
+   "grasp_site_at_shut_xyz_m": [
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+   ],
+   "grasp_site_at_shut_uv": [
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+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 26,
+   "path_len_cm": 1.9,
+   "path_uv_every_3_frames": [
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+  }
+ }
+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..4d70832ddba873af0fe0bc7c53d0103f89171499
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+++ b/public/samples/s0221_b03d8e78_l_1387/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0221_b03d8e78_l_1387",
+ "task": "fold_and_stack_the_trousers",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 23,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+   ],
+   [
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+    0.39884,
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+  ],
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+   -1.03132,
+   -0.09823,
+   -0.3851,
+   0.65431,
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+   1.59438,
+   1.23198,
+   -0.75895,
+   0.35611,
+   0.6445,
+   0.81215
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +4.7 cm forward, +2.6 cm to the robot's left and +4.1 cm up from where it is now (path length 7.0 cm); in the top camera that is -12 px right and -25 px down. Gripper command: now 0.65 open; starts closing at +0.27 s and is shut (0.10) at +0.77 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.8571,
+    0.3997,
+    0.8548
+   ],
+   "grasp_site_now_uv": [
+    155.9,
+    148.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.9043,
+    0.4259,
+    0.8959
+   ],
+   "grasp_site_at_shut_uv": [
+    144.3,
+    123.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 23,
+   "path_len_cm": 7.0,
+   "path_uv_every_3_frames": [
+    [
+     152.6,
+     142.7
+    ],
+    [
+     150.2,
+     143.5
+    ],
+    [
+     150.2,
+     141.5
+    ],
+    [
+     149.0,
+     139.7
+    ],
+    [
+     148.9,
+     138.0
+    ],
+    [
+     148.5,
+     135.0
+    ],
+    [
+     147.3,
+     130.5
+    ],
+    [
+     146.0,
+     126.6
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ],
+    [
+     144.3,
+     123.7
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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+size 106805
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+{
+ "id": "s0222_17f5f0f9_l_1069",
+ "task": "put_the_phone_into_the_phone_case",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 32,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
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+    0.96823,
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+   ],
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+   "close_done_frame": 32,
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+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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index 0000000000000000000000000000000000000000..4f78277afc3f434521cf157d213674aa4bf0e3da
--- /dev/null
+++ b/public/samples/s0223_c40b5f48_r_1547/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0223_c40b5f48_r_1547",
+ "task": "put_the_credit_cards_into_the_card_holder",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 48,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    0.25715
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+   [
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+   ],
+   [
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+   [
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+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
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+    0.1986,
+    0.40763,
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+    0.26129,
+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    -0.09308,
+    0.37422,
+    0.25715
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+   [
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+    1.75529,
+    1.23793,
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+    0.37422,
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+   [
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+    0.1986,
+    0.40763,
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+    0.26129,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
+    -0.69719,
+    0.26129,
+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
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+    0.40763,
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+    0.26129,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
+    -0.69719,
+    0.26129,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
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+    0.26129,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
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+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
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+    0.26129,
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+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
+    -0.69719,
+    0.26129,
+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
+    -0.69719,
+    0.26129,
+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ],
+   [
+    -0.55089,
+    1.82399,
+    0.87897,
+    0.1986,
+    0.40763,
+    -0.69719,
+    0.26129,
+    0.57524,
+    1.75529,
+    1.23793,
+    -0.6481,
+    -0.09308,
+    0.37422,
+    0.25715
+   ]
+  ],
+  "state_t": [
+   -0.55905,
+   1.7916,
+   0.87263,
+   0.16728,
+   0.40036,
+   -0.70706,
+   0.26223,
+   0.58766,
+   1.77291,
+   1.24914,
+   -0.65747,
+   0.0021,
+   0.37747,
+   0.66459
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.7 cm forward, +0.9 cm to the robot's left and +0.5 cm up from where it is now (path length 5.0 cm); in the top camera that is -3 px right and +1 px down. Gripper command: now 0.67 open; starts closing at +0.13 s and is shut (0.26) at +1.60 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5921,
+    -0.0842,
+    0.8263
+   ],
+   "grasp_site_now_uv": [
+    347.1,
+    244.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5854,
+    -0.0753,
+    0.8309
+   ],
+   "grasp_site_at_shut_uv": [
+    343.9,
+    245.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 48,
+   "path_len_cm": 5.0,
+   "path_uv_every_3_frames": [
+    [
+     347.4,
+     246.7
+    ],
+    [
+     346.8,
+     247.5
+    ],
+    [
+     345.1,
+     248.8
+    ],
+    [
+     342.8,
+     249.9
+    ],
+    [
+     342.0,
+     249.8
+    ],
+    [
+     342.8,
+     249.0
+    ],
+    [
+     343.5,
+     248.4
+    ],
+    [
+     343.4,
+     248.0
+    ],
+    [
+     342.6,
+     248.1
+    ],
+    [
+     342.2,
+     247.4
+    ],
+    [
+     342.2,
+     247.4
+    ],
+    [
+     342.4,
+     247.4
+    ],
+    [
+     343.0,
+     246.9
+    ],
+    [
+     343.7,
+     246.3
+    ],
+    [
+     343.9,
+     245.9
+    ],
+    [
+     344.1,
+     245.9
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ],
+    [
+     343.9,
+     245.8
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0224_91aacb56_r_2480/sample.json b/public/samples/s0224_91aacb56_r_2480/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..6657d7fada587642bf360b5af6ccb91b302b1aaa
--- /dev/null
+++ b/public/samples/s0224_91aacb56_r_2480/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0224_91aacb56_r_2480",
+ "task": "remove_the_pillowcase_from_the_pillow",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 47,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    0.2117,
+    1.19189,
+    1.17965,
+    -0.04142,
+    0.23932,
+    -0.53998,
+    0.0,
+    0.46786,
+    1.21201,
+    1.13511,
+    -0.42485,
+    0.13023,
+    0.44792,
+    0.77628
+   ],
+   [
+    0.21017,
+    1.1919,
+    1.17963,
+    -0.04597,
+    0.23778,
+    -0.53389,
+    0.0,
+    0.46938,
+    1.20273,
+    1.13666,
+    -0.43402,
+    0.17139,
+    0.45096,
+    0.78949
+   ],
+   [
+    0.21016,
+    1.1919,
+    1.17811,
+    -0.04602,
+    0.23017,
+    -0.53383,
+    0.0,
+    0.4694,
+    1.19353,
+    1.13668,
+    -0.45841,
+    0.19914,
+    0.45099,
+    0.83301
+   ],
+   [
+    0.21016,
+    1.1919,
+    1.18417,
+    -0.04754,
+    0.22402,
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+    0.4694,
+    1.18584,
+    1.13364,
+    -0.47233,
+    0.22371,
+    0.45555,
+    0.85081
+   ],
+   [
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+    1.19494,
+    1.18727,
+    -0.05667,
+    0.21485,
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+    0.0,
+    0.46788,
+    1.17362,
+    1.12602,
+    -0.49373,
+    0.30597,
+    0.45863,
+    0.87702
+   ],
+   [
+    0.21016,
+    1.19497,
+    1.19641,
+    -0.05828,
+    0.2102,
+    -0.52921,
+    0.0,
+    0.46786,
+    1.16742,
+    1.10772,
+    -0.50001,
+    0.34779,
+    0.46322,
+    0.93802
+   ],
+   [
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+    1.19801,
+    1.20106,
+    -0.05829,
+    0.21167,
+    -0.53074,
+    0.0,
+    0.46635,
+    1.16129,
+    1.07109,
+    -0.50463,
+    0.37858,
+    0.48149,
+    0.95599
+   ],
+   [
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+    1.20108,
+    1.20566,
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+    0.21321,
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+    0.46026,
+    1.14148,
+    1.04794,
+    -0.51075,
+    0.37585,
+    0.49078,
+    0.96268
+   ],
+   [
+    0.21016,
+    1.20414,
+    1.21634,
+    -0.05829,
+    0.21322,
+    -0.53688,
+    0.0,
+    0.45716,
+    1.12306,
+    1.02493,
+    -0.51082,
+    0.35305,
+    0.50454,
+    0.97359
+   ],
+   [
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+    1.21025,
+    1.221,
+    -0.05829,
+    0.21019,
+    -0.53993,
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+    0.45409,
+    1.10313,
+    0.9837,
+    -0.51233,
+    0.33308,
+    0.51986,
+    0.97587
+   ],
+   [
+    0.21167,
+    1.21335,
+    1.22864,
+    -0.05222,
+    0.20712,
+    -0.55515,
+    0.0,
+    0.45102,
+    1.05586,
+    0.96506,
+    -0.51083,
+    0.30858,
+    0.54887,
+    0.98023
+   ],
+   [
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+    1.21793,
+    1.23479,
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+    -0.56137,
+    0.0,
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+    1.03412,
+    0.94969,
+    -0.51082,
+    0.30985,
+    0.55827,
+    0.98245
+   ],
+   [
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+    1.22254,
+    1.24093,
+    -0.04452,
+    0.22083,
+    -0.56903,
+    0.0,
+    0.44794,
+    1.01264,
+    0.93131,
+    -0.51385,
+    0.31138,
+    0.57204,
+    0.98464
+   ],
+   [
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+    1.23473,
+    1.25769,
+    -0.03689,
+    0.22545,
+    -0.57518,
+    0.0,
+    0.44337,
+    0.96687,
+    0.90227,
+    -0.52451,
+    0.30229,
+    0.60255,
+    0.98683
+   ],
+   [
+    0.21017,
+    1.23941,
+    1.26546,
+    -0.0353,
+    0.22853,
+    -0.58132,
+    0.0,
+    0.44028,
+    0.95123,
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+   ],
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+   ],
+   [
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+   ],
+   [
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+    -0.23151,
+    0.15357,
+    0.77012,
+    0.00331
+   ]
+  ],
+  "state_t": [
+   0.19207,
+   1.24418,
+   1.17056,
+   -0.25006,
+   0.35115,
+   -0.5518,
+   0.194,
+   0.43851,
+   1.29301,
+   1.10914,
+   -0.4015,
+   0.0555,
+   0.49153,
+   0.71201
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -4.7 cm forward, -4.3 cm to the robot's left and -6.8 cm up from where it is now (path length 29.0 cm); in the top camera that is +17 px right and +38 px down. Gripper command: now 0.78 open; starts closing at +1.03 s and is shut (0.00) at +1.57 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.621,
+    -0.1476,
+    0.9974
+   ],
+   "grasp_site_now_uv": [
+    395.6,
+    185.3
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.574,
+    -0.1902,
+    0.929
+   ],
+   "grasp_site_at_shut_uv": [
+    412.9,
+    222.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 31,
+   "close_done_frame": 47,
+   "path_len_cm": 29.0,
+   "path_uv_every_3_frames": [
+    [
+     402.4,
+     178.2
+    ],
+    [
+     412.5,
+     180.0
+    ],
+    [
+     427.2,
+     189.2
+    ],
+    [
+     428.2,
+     202.4
+    ],
+    [
+     432.5,
+     207.7
+    ],
+    [
+     435.5,
+     217.4
+    ],
+    [
+     433.3,
+     230.3
+    ],
+    [
+     427.1,
+     244.9
+    ],
+    [
+     426.3,
+     250.0
+    ],
+    [
+     424.5,
+     246.1
+    ],
+    [
+     420.0,
+     242.3
+    ],
+    [
+     417.0,
+     238.3
+    ],
+    [
+     413.4,
+     235.3
+    ],
+    [
+     412.3,
+     232.4
+    ],
+    [
+     413.3,
+     227.3
+    ],
+    [
+     414.4,
+     222.8
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ],
+    [
+     412.9,
+     222.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
diff --git a/public/samples/s0224_91aacb56_r_2480/top_t-15.jpg b/public/samples/s0224_91aacb56_r_2480/top_t-15.jpg
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Binary files /dev/null and b/public/samples/s0224_91aacb56_r_2480/top_t-15.jpg differ
diff --git a/public/samples/s0224_91aacb56_r_2480/top_t-30.jpg b/public/samples/s0224_91aacb56_r_2480/top_t-30.jpg
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+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ],
+   [
+    -0.40499,
+    1.31304,
+    0.75167,
+    -0.09971,
+    0.68577,
+    0.51385,
+    0.01825,
+    0.60284,
+    1.55699,
+    1.57702,
+    -0.75168,
+    -0.08892,
+    -0.59368,
+    0.98245
+   ]
+  ],
+  "state_t": [
+   -0.40074,
+   1.10342,
+   1.04582,
+   -0.23785,
+   0.107,
+   0.38396,
+   0.9943,
+   0.65824,
+   1.71988,
+   1.21824,
+   -0.69982,
+   0.0864,
+   -0.88445,
+   0.97157
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -6.1 cm forward, -7.3 cm to the robot's left and -16.1 cm up from where it is now (path length 25.4 cm); in the top camera that is +44 px right and +72 px down. Gripper command: now 1.00 open; starts closing at +0.97 s and is shut (0.02) at +2.63 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5968,
+    0.1444,
+    1.0747
+   ],
+   "grasp_site_now_uv": [
+    241.9,
+    169.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5357,
+    0.0715,
+    0.9134
+   ],
+   "grasp_site_at_shut_uv": [
+    285.9,
+    241.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 29,
+   "close_done_frame": 79,
+   "path_len_cm": 25.4,
+   "path_uv_every_3_frames": [
+    [
+     240.7,
+     166.9
+    ],
+    [
+     241.2,
+     166.9
+    ],
+    [
+     241.3,
+     167.4
+    ],
+    [
+     241.5,
+     167.4
+    ],
+    [
+     241.4,
+     167.1
+    ],
+    [
+     243.4,
+     168.2
+    ],
+    [
+     248.1,
+     174.3
+    ],
+    [
+     257.5,
+     187.9
+    ],
+    [
+     262.5,
+     200.5
+    ],
+    [
+     264.9,
+     207.9
+    ],
+    [
+     266.6,
+     212.9
+    ],
+    [
+     269.1,
+     218.6
+    ],
+    [
+     271.6,
+     222.6
+    ],
+    [
+     274.4,
+     223.8
+    ],
+    [
+     276.9,
+     224.5
+    ],
+    [
+     279.6,
+     224.7
+    ],
+    [
+     282.5,
+     225.0
+    ],
+    [
+     285.4,
+     224.6
+    ],
+    [
+     287.2,
+     224.3
+    ],
+    [
+     288.6,
+     225.7
+    ],
+    [
+     289.5,
+     228.3
+    ],
+    [
+     289.8,
+     230.4
+    ],
+    [
+     289.5,
+     232.8
+    ],
+    [
+     288.3,
+     235.3
+    ],
+    [
+     287.3,
+     237.6
+    ],
+    [
+     286.6,
+     239.0
+    ],
+    [
+     286.3,
+     241.1
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ],
+    [
+     285.9,
+     241.2
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/public/samples/s0226_54972992_r_2147/left_t.jpg b/public/samples/s0226_54972992_r_2147/left_t.jpg
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diff --git a/public/samples/s0226_54972992_r_2147/right_t-15.jpg b/public/samples/s0226_54972992_r_2147/right_t-15.jpg
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diff --git a/public/samples/s0226_54972992_r_2147/right_t.jpg b/public/samples/s0226_54972992_r_2147/right_t.jpg
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Binary files /dev/null and b/public/samples/s0226_54972992_r_2147/right_t.jpg differ
diff --git a/public/samples/s0226_54972992_r_2147/sample.json b/public/samples/s0226_54972992_r_2147/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca27e09a82a26dcf799c034e9c9c3898abc8329
--- /dev/null
+++ b/public/samples/s0226_54972992_r_2147/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0226_54972992_r_2147",
+ "task": "insert_the_wireless_bluetooth_earbuds_into_the_charging_case",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 41,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.58691,
+    0.98867,
+    0.45427,
+    0.63248,
+    0.80935,
+    0.0621,
+    0.04183,
+    0.632,
+    1.18141,
+    0.91411,
+    -0.01733,
+    -0.58392,
+    -0.2404,
+    0.79237
+   ],
+   [
+    -0.58741,
+    0.98568,
+    0.45139,
+    0.63911,
+    0.82052,
+    0.06289,
+    0.04497,
+    0.632,
+    1.18551,
+    0.91689,
+    -0.01245,
+    -0.57509,
+    -0.23352,
+    0.78458
+   ],
+   [
+    -0.58742,
+    0.98377,
+    0.44889,
+    0.63978,
+    0.82442,
+    0.06289,
+    0.04526,
+    0.62979,
+    1.19238,
+    0.92246,
+    -0.01318,
+    -0.57202,
+    -0.2229,
+    0.76425
+   ],
+   [
+    -0.58673,
+    0.98065,
+    0.44767,
+    0.63966,
+    0.82976,
+    0.06438,
+    0.04527,
+    0.62989,
+    1.19753,
+    0.92479,
+    -0.01074,
+    -0.57572,
+    -0.21827,
+    0.74195
+   ],
+   [
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+    0.97764,
+    0.44525,
+    0.64211,
+    0.83505,
+    0.06366,
+    0.04586,
+    0.62974,
+    1.20076,
+    0.92535,
+    -0.01033,
+    -0.58175,
+    -0.21932,
+    0.72262
+   ],
+   [
+    -0.58751,
+    0.97526,
+    0.44297,
+    0.64616,
+    0.84346,
+    0.06353,
+    0.04753,
+    0.62609,
+    1.20517,
+    0.92646,
+    -0.00807,
+    -0.5871,
+    -0.21818,
+    0.66279
+   ],
+   [
+    -0.58888,
+    0.9715,
+    0.4418,
+    0.64735,
+    0.84815,
+    0.06063,
+    0.04813,
+    0.62176,
+    1.20942,
+    0.92604,
+    -0.00613,
+    -0.59238,
+    -0.21748,
+    0.61124
+   ],
+   [
+    -0.58904,
+    0.9696,
+    0.44322,
+    0.64536,
+    0.84714,
+    0.05282,
+    0.04983,
+    0.61906,
+    1.21289,
+    0.92704,
+    -0.00757,
+    -0.59986,
+    -0.21873,
+    0.57455
+   ],
+   [
+    -0.58905,
+    0.96816,
+    0.44332,
+    0.64637,
+    0.84504,
+    0.04591,
+    0.04985,
+    0.61556,
+    1.21634,
+    0.92881,
+    -0.01281,
+    -0.61412,
+    -0.22581,
+    0.54128
+   ],
+   [
+    -0.58828,
+    0.96651,
+    0.4449,
+    0.64733,
+    0.84226,
+    0.03788,
+    0.04985,
+    0.61431,
+    1.2206,
+    0.93034,
+    -0.02038,
+    -0.63069,
+    -0.23719,
+    0.52361
+   ],
+   [
+    -0.58899,
+    0.96532,
+    0.4462,
+    0.64576,
+    0.84375,
+    0.03123,
+    0.04985,
+    0.6136,
+    1.22238,
+    0.93202,
+    -0.02441,
+    -0.64315,
+    -0.24502,
+    0.49655
+   ],
+   [
+    -0.58934,
+    0.96383,
+    0.44715,
+    0.64427,
+    0.84736,
+    0.02848,
+    0.04985,
+    0.61359,
+    1.22407,
+    0.93335,
+    -0.0273,
+    -0.65519,
+    -0.24764,
+    0.46041
+   ],
+   [
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+    0.96415,
+    0.4477,
+    0.64425,
+    0.8526,
+    0.02628,
+    0.05314,
+    0.61359,
+    1.22712,
+    0.93412,
+    -0.02516,
+    -0.66498,
+    -0.24885,
+    0.39366
+   ],
+   [
+    -0.59245,
+    0.96393,
+    0.44792,
+    0.64298,
+    0.85888,
+    0.02551,
+    0.06168,
+    0.61359,
+    1.22877,
+    0.93714,
+    -0.02755,
+    -0.67607,
+    -0.25052,
+    0.35357
+   ],
+   [
+    -0.59363,
+    0.96515,
+    0.44677,
+    0.64135,
+    0.86255,
+    0.02463,
+    0.07286,
+    0.61378,
+    1.23245,
+    0.94049,
+    -0.03234,
+    -0.69301,
+    -0.25201,
+    0.34032
+   ],
+   [
+    -0.59504,
+    0.96715,
+    0.44639,
+    0.63895,
+    0.86683,
+    0.02305,
+    0.08875,
+    0.61369,
+    1.2359,
+    0.9432,
+    -0.03947,
+    -0.70835,
+    -0.25689,
+    0.32301
+   ],
+   [
+    -0.59518,
+    0.97027,
+    0.44639,
+    0.63256,
+    0.87282,
+    0.02416,
+    0.09941,
+    0.61199,
+    1.24005,
+    0.94718,
+    -0.0457,
+    -0.71708,
+    -0.25837,
+    0.31938
+   ],
+   [
+    -0.59607,
+    0.97311,
+    0.44783,
+    0.62985,
+    0.87641,
+    0.02511,
+    0.10575,
+    0.61244,
+    1.2446,
+    0.9491,
+    -0.04912,
+    -0.72168,
+    -0.25964,
+    0.29733
+   ],
+   [
+    -0.59737,
+    0.97593,
+    0.44641,
+    0.63061,
+    0.87673,
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+   ],
+   [
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+    1.30062,
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+    0.13113
+   ],
+   [
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+    1.30062,
+    1.06073,
+    -0.3032,
+    -0.60789,
+    -0.3693,
+    0.13113
+   ],
+   [
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+    1.06721,
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+    0.33901,
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+    0.09149,
+    0.40399,
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+    1.06073,
+    -0.3032,
+    -0.60789,
+    -0.3693,
+    0.13113
+   ]
+  ],
+  "state_t": [
+   -0.58194,
+   0.98478,
+   0.45911,
+   0.53502,
+   0.78527,
+   0.00744,
+   0.21156,
+   0.63802,
+   1.1614,
+   0.92679,
+   -0.08145,
+   -0.5705,
+   -0.26875,
+   0.79824
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +1.0 cm forward, +0.7 cm to the robot's left and -3.2 cm up from where it is now (path length 6.2 cm); in the top camera that is -4 px right and +4 px down. Gripper command: now 0.79 open; starts closing at +0.00 s and is shut (0.13) at +1.37 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4978,
+    -0.0138,
+    1.0401
+   ],
+   "grasp_site_now_uv": [
+    333.2,
+    231.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5083,
+    -0.0068,
+    1.0081
+   ],
+   "grasp_site_at_shut_uv": [
+    329.5,
+    234.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 41,
+   "path_len_cm": 6.2,
+   "path_uv_every_3_frames": [
+    [
+     331.5,
+     228.7
+    ],
+    [
+     330.8,
+     226.4
+    ],
+    [
+     330.6,
+     226.3
+    ],
+    [
+     330.0,
+     228.5
+    ],
+    [
+     328.9,
+     230.4
+    ],
+    [
+     327.4,
+     233.0
+    ],
+    [
+     326.8,
+     233.8
+    ],
+    [
+     327.3,
+     234.0
+    ],
+    [
+     328.3,
+     233.1
+    ],
+    [
+     329.6,
+     232.9
+    ],
+    [
+     330.5,
+     232.8
+    ],
+    [
+     331.1,
+     233.1
+    ],
+    [
+     330.7,
+     233.8
+    ],
+    [
+     329.8,
+     234.7
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ],
+    [
+     329.5,
+     234.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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+{
+ "id": "s0227_7279b7ab_r_160",
+ "task": "place_and_organize_the_fake_fruits_in_the_fruit_bowl",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 102,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    1.30388,
+    -0.57984,
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+    0.26078,
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+   ],
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+    1.4266,
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+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
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+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
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+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
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+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
+    -0.33134,
+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
+    -0.33134,
+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
+    -0.33134,
+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
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+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
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+    1.4266,
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+    1.0,
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+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
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+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
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+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
+    -0.33134,
+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ],
+   [
+    -0.33134,
+    1.42967,
+    1.4266,
+    -0.66268,
+    -0.34975,
+    0.27612,
+    1.0,
+    0.79153,
+    1.86236,
+    1.30388,
+    -0.57984,
+    0.19021,
+    0.26078,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.61437,
+   2.46109,
+   2.26005,
+   -0.8444,
+   -0.14515,
+   0.27981,
+   0.99811,
+   0.2882,
+   1.43568,
+   1.37694,
+   -0.68189,
+   0.05207,
+   0.52968,
+   0.99637
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -6.8 cm forward, +17.9 cm to the robot's left and -18.7 cm up from where it is now (path length 64.0 cm); in the top camera that is -89 px right and +74 px down. Gripper command: now 1.00 open; starts closing at +1.77 s and is shut (0.00) at +3.40 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6505,
+    -0.2013,
+    1.0066
+   ],
+   "grasp_site_now_uv": [
+    408.8,
+    173.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5821,
+    -0.0221,
+    0.8192
+   ],
+   "grasp_site_at_shut_uv": [
+    319.6,
+    247.5
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 53,
+   "close_done_frame": 102,
+   "path_len_cm": 64.0,
+   "path_uv_every_3_frames": [
+    [
+     411.8,
+     173.3
+    ],
+    [
+     414.2,
+     172.2
+    ],
+    [
+     417.3,
+     169.4
+    ],
+    [
+     417.1,
+     175.5
+    ],
+    [
+     419.0,
+     181.9
+    ],
+    [
+     423.9,
+     188.0
+    ],
+    [
+     428.6,
+     191.8
+    ],
+    [
+     439.6,
+     199.1
+    ],
+    [
+     445.2,
+     205.7
+    ],
+    [
+     458.0,
+     208.1
+    ],
+    [
+     464.6,
+     211.4
+    ],
+    [
+     470.0,
+     214.6
+    ],
+    [
+     473.7,
+     217.8
+    ],
+    [
+     474.7,
+     220.8
+    ],
+    [
+     475.0,
+     222.0
+    ],
+    [
+     472.7,
+     222.4
+    ],
+    [
+     468.2,
+     220.7
+    ],
+    [
+     447.5,
+     219.2
+    ],
+    [
+     420.2,
+     223.6
+    ],
+    [
+     388.2,
+     232.4
+    ],
+    [
+     355.1,
+     238.8
+    ],
+    [
+     336.0,
+     243.3
+    ],
+    [
+     328.0,
+     246.4
+    ],
+    [
+     328.6,
+     247.6
+    ],
+    [
+     330.7,
+     248.8
+    ],
+    [
+     329.2,
+     249.3
+    ],
+    [
+     326.2,
+     253.1
+    ],
+    [
+     325.3,
+     253.6
+    ],
+    [
+     324.1,
+     255.0
+    ],
+    [
+     321.9,
+     253.7
+    ],
+    [
+     320.3,
+     251.8
+    ],
+    [
+     319.3,
+     250.9
+    ],
+    [
+     319.7,
+     248.6
+    ],
+    [
+     319.7,
+     248.5
+    ],
+    [
+     319.6,
+     247.5
+    ],
+    [
+     319.6,
+     247.5
+    ],
+    [
+     319.6,
+     247.5
+    ],
+    [
+     319.6,
+     247.5
+    ],
+    [
+     319.6,
+     247.5
+    ],
+    [
+     319.6,
+     247.5
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0228_857c5cd3_l_5884/sample.json b/public/samples/s0228_857c5cd3_l_5884/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..472c0e2adb83feacd2fef78d878d8ffedbc796b4
--- /dev/null
+++ b/public/samples/s0228_857c5cd3_l_5884/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0228_857c5cd3_l_5884",
+ "task": "fold_and_stack_the_t_shirts",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 28,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    0.21388,
+    1.68743,
+    1.11974,
+    -0.65183,
+    0.43371,
+    0.41577,
+    0.60754,
+    0.23692,
+    1.49709,
+    0.93729,
+    -0.51089,
+    0.06608,
+    0.59822,
+    0.47511
+   ],
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+    1.50628,
+    0.93271,
+    -0.5017,
+    0.05837,
+    0.60129,
+    0.47511
+   ],
+   [
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+    1.68279,
+    1.12896,
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+    0.49823,
+    0.40959,
+    0.60754,
+    0.24002,
+    1.51396,
+    0.9281,
+    -0.4925,
+    0.05222,
+    0.60436,
+    0.473
+   ],
+   [
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+    1.68278,
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+    1.52315,
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+    0.04608,
+    0.60743,
+    0.46454
+   ],
+   [
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+    0.52911,
+    0.40804,
+    0.60754,
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+    1.53235,
+    0.92042,
+    -0.47563,
+    0.04146,
+    0.61049,
+    0.44547
+   ],
+   [
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+    1.13208,
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+    1.54308,
+    0.91735,
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+    0.03534,
+    0.61356,
+    0.41153
+   ],
+   [
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+    0.60152,
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+    1.55078,
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+    0.02769,
+    0.61663,
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+   ],
+   [
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+    0.61818,
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+   ],
+   [
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+    1.56156,
+    0.91122,
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+    0.62275,
+    0.24983
+   ],
+   [
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+    0.62887,
+    0.18811
+   ],
+   [
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+    0.90509,
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+    0.01381,
+    0.63197,
+    0.1432
+   ],
+   [
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+   ],
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+   ],
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+   ],
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+   [
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+   ],
+   [
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+    1.49726,
+    0.86676,
+    -0.48618,
+    0.03218,
+    0.64119,
+    9e-05
+   ],
+   [
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+    0.85911,
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+    0.64424,
+    0.0
+   ],
+   [
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+    1.82689,
+    1.11826,
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+    0.22011,
+    1.47732,
+    0.84992,
+    -0.50764,
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+    0.65035,
+    0.0
+   ],
+   [
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+    1.46963,
+    0.84223,
+    -0.51686,
+    0.05361,
+    0.65496,
+    0.0
+   ],
+   [
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+    1.46196,
+    0.83304,
+    -0.52606,
+    0.05824,
+    0.65805,
+    0.0
+   ],
+   [
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+    1.45429,
+    0.82536,
+    -0.53375,
+    0.06588,
+    0.66263,
+    0.0
+   ],
+   [
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+   ],
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+   ],
+   [
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+    0.09822,
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+    0.0
+   ],
+   [
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+    0.79765,
+    -0.5461,
+    0.09822,
+    0.68416,
+    0.0
+   ]
+  ],
+  "state_t": [
+   0.16575,
+   1.7504,
+   1.09236,
+   -0.59873,
+   0.26074,
+   0.44575,
+   0.61012,
+   0.2245,
+   1.46658,
+   0.92908,
+   -0.55943,
+   0.11501,
+   0.58042,
+   0.47104
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -0.1 cm forward, +0.7 cm to the robot's left and -2.7 cm up from where it is now (path length 9.4 cm); in the top camera that is -0 px right and +6 px down. Gripper command: now 0.61 open; starts closing at +0.13 s and is shut (0.10) at +0.93 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6259,
+    0.328,
+    0.7948
+   ],
+   "grasp_site_now_uv": [
+    188.7,
+    234.2
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6252,
+    0.3355,
+    0.7679
+   ],
+   "grasp_site_at_shut_uv": [
+    188.5,
+    239.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 28,
+   "path_len_cm": 9.4,
+   "path_uv_every_3_frames": [
+    [
+     188.8,
+     225.9
+    ],
+    [
+     188.9,
+     224.2
+    ],
+    [
+     191.5,
+     227.8
+    ],
+    [
+     192.2,
+     232.1
+    ],
+    [
+     190.8,
+     234.3
+    ],
+    [
+     191.2,
+     236.8
+    ],
+    [
+     190.9,
+     238.8
+    ],
+    [
+     189.1,
+     239.7
+    ],
+    [
+     188.7,
+     239.8
+    ],
+    [
+     188.6,
+     240.1
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ],
+    [
+     188.5,
+     239.9
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0229_cac4e017_l_935/sample.json b/public/samples/s0229_cac4e017_l_935/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b8ffa3faff29658ff311fafa9c1263b6a327fe7
--- /dev/null
+++ b/public/samples/s0229_cac4e017_l_935/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0229_cac4e017_l_935",
+ "task": "place_and_organize_the_shoes_in_the_shoe_cabinet",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 56,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
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+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ],
+   [
+    -0.0721,
+    1.52016,
+    1.09066,
+    0.17794,
+    -0.32669,
+    -0.18254,
+    0.35792,
+    0.43105,
+    1.4542,
+    0.73478,
+    0.586,
+    -0.37583,
+    0.73324,
+    0.86847
+   ]
+  ],
+  "state_t": [
+   -0.07992,
+   1.55356,
+   0.98554,
+   0.22755,
+   -0.35573,
+   -0.16766,
+   0.99319,
+   0.43431,
+   1.43645,
+   0.70706,
+   0.5602,
+   -0.34733,
+   0.75132,
+   0.86619
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Left arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved +0.7 cm forward, -0.1 cm to the robot's left and +5.3 cm up from where it is now (path length 12.8 cm); in the top camera that is -6 px right and -19 px down. Gripper command: now 1.00 open; starts closing at +0.23 s and is shut (0.36) at +1.87 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7299,
+    0.3312,
+    0.9688
+   ],
+   "grasp_site_now_uv": [
+    171.3,
+    153.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7372,
+    0.3297,
+    1.0217
+   ],
+   "grasp_site_at_shut_uv": [
+    165.3,
+    134.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 7,
+   "close_done_frame": 56,
+   "path_len_cm": 12.8,
+   "path_uv_every_3_frames": [
+    [
+     168.7,
+     137.8
+    ],
+    [
+     170.3,
+     137.3
+    ],
+    [
+     167.3,
+     138.0
+    ],
+    [
+     165.4,
+     145.4
+    ],
+    [
+     164.4,
+     150.8
+    ],
+    [
+     166.2,
+     155.1
+    ],
+    [
+     168.4,
+     152.6
+    ],
+    [
+     170.2,
+     151.3
+    ],
+    [
+     170.9,
+     149.8
+    ],
+    [
+     170.9,
+     147.2
+    ],
+    [
+     170.7,
+     145.5
+    ],
+    [
+     171.0,
+     143.3
+    ],
+    [
+     171.3,
+     142.0
+    ],
+    [
+     171.1,
+     138.7
+    ],
+    [
+     171.1,
+     136.0
+    ],
+    [
+     170.6,
+     134.2
+    ],
+    [
+     170.1,
+     132.6
+    ],
+    [
+     169.3,
+     132.4
+    ],
+    [
+     166.4,
+     133.7
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ],
+    [
+     165.3,
+     134.0
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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diff --git a/public/samples/s0230_cf6801f7_r_1850/sample.json b/public/samples/s0230_cf6801f7_r_1850/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1031bc93dc216865acc17dabcbc26c83a44e60c
--- /dev/null
+++ b/public/samples/s0230_cf6801f7_r_1850/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0230_cf6801f7_r_1850",
+ "task": "place_the_cup_by_the_coaster",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
+  ],
+  "files": {
+   "top_t": "top_t.jpg",
+   "left_t": "left_t.jpg",
+   "right_t": "right_t.jpg",
+   "top_t-15": "top_t-15.jpg",
+   "left_t-15": "left_t-15.jpg",
+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
+   "left_t-30": "left_t-30.jpg",
+   "right_t-30": "right_t-30.jpg"
+  },
+  "overlay": "overlay_t.jpg",
+  "horizon": 120,
+  "freeze_frame": 105,
+  "action_layout": "rows = frames t..t+horizon-1 at 30 Hz; cols = left joints 0-5 (rad), left gripper 6 (open fraction), right joints 7-12, right gripper 13; absolute commanded targets; every target is held fixed from freeze_frame on",
+  "actions": [
+   [
+    -0.31138,
+    1.10296,
+    0.70563,
+    -0.09664,
+    0.02299,
+    -0.11043,
+    0.92111,
+    -0.30373,
+    2.42694,
+    2.34876,
+    -0.43887,
+    -0.14876,
+    -0.04303,
+    0.64705
+   ],
+   [
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+    1.09838,
+    0.70563,
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+    0.02453,
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+    0.92328,
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+    2.40246,
+    2.32119,
+    -0.41898,
+    -0.1488,
+    -0.03991,
+    0.66237
+   ],
+   [
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+    1.09681,
+    0.70563,
+    -0.09511,
+    0.02606,
+    -0.10891,
+    0.9233,
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+    2.38096,
+    2.29206,
+    -0.40207,
+    -0.1488,
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+    0.6712
+   ],
+   [
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+    2.361,
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+    -0.03378,
+    0.67563
+   ],
+   [
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+    1.09069,
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+    2.34106,
+    2.24294,
+    -0.36218,
+    -0.14423,
+    -0.03223,
+    0.68218
+   ],
+   [
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+    0.03525,
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+    2.32719,
+    2.22598,
+    -0.35291,
+    -0.13812,
+    -0.03221,
+    0.68659
+   ],
+   [
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+    2.30579,
+    2.19999,
+    -0.33915,
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+    0.69314
+   ],
+   [
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+    2.28583,
+    2.17543,
+    -0.32382,
+    -0.13652,
+    -0.03375,
+    0.69754
+   ],
+   [
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+    2.26893,
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+   ],
+   [
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+    0.70195
+   ],
+   [
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+    2.23667,
+    2.09715,
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+    2.20899,
+    2.03121,
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+   ],
+   [
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+    2.20134,
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+    -0.11361,
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+   ],
+   [
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+    2.19367,
+    1.98671,
+    -0.2731,
+    -0.10137,
+    -0.05519,
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+   ],
+   [
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+    1.96676,
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+   ],
+   [
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+    2.18292,
+    1.94379,
+    -0.26544,
+    -0.07374,
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+   ],
+   [
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+    2.17526,
+    1.92533,
+    -0.25627,
+    -0.05845,
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+    0.70416
+   ],
+   [
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+    2.16455,
+    1.90085,
+    -0.24099,
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+    -0.07055,
+    0.70416
+   ],
+   [
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+    1.88086,
+    -0.22717,
+    -0.02925,
+    -0.06753,
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+   ],
+   [
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+    -0.21792,
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+   ],
+   [
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+   ],
+   [
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+    1.8531,
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+   ],
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+   ],
+   [
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+   ],
+   [
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+    2.34085,
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+    0.11353,
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+    0.17825
+   ],
+   [
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+    0.06443,
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+    2.34085,
+    2.00645,
+    -0.30985,
+    0.11353,
+    -0.10121,
+    0.17825
+   ],
+   [
+    -0.3114,
+    1.10905,
+    0.70565,
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+    0.06443,
+    -0.11658,
+    0.92768,
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+    2.34085,
+    2.00645,
+    -0.30985,
+    0.11353,
+    -0.10121,
+    0.17825
+   ]
+  ],
+  "state_t": [
+   -0.31453,
+   1.11486,
+   0.70363,
+   -0.12875,
+   0.0185,
+   -0.11845,
+   0.91801,
+   -0.30308,
+   2.59422,
+   2.44202,
+   -0.55409,
+   -0.12379,
+   -0.08106,
+   0.56784
+  ],
+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
+   "text": "Right arm, next 4.0 s of absolute joint targets at 30 Hz. By the time the jaws shut, the gripper site has moved -2.9 cm forward, +1.7 cm to the robot's left and +1.8 cm up from where it is now (path length 20.9 cm); in the top camera that is -1 px right and +3 px down. Gripper command: now 0.65 open; starts closing at +1.00 s and is shut (0.18) at +3.50 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.909,
+    -0.4933,
+    0.866
+   ],
+   "grasp_site_now_uv": [
+    612.5,
+    132.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.8801,
+    -0.4768,
+    0.8839
+   ],
+   "grasp_site_at_shut_uv": [
+    611.2,
+    135.3
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 30,
+   "close_done_frame": 105,
+   "path_len_cm": 20.9,
+   "path_uv_every_3_frames": [
+    [
+     624.6,
+     105.6
+    ],
+    [
+     628.1,
+     101.1
+    ],
+    [
+     630.7,
+     99.4
+    ],
+    [
+     631.0,
+     99.7
+    ],
+    [
+     629.8,
+     104.4
+    ],
+    [
+     627.5,
+     111.0
+    ],
+    [
+     624.0,
+     117.0
+    ],
+    [
+     622.2,
+     121.5
+    ],
+    [
+     618.9,
+     124.2
+    ],
+    [
+     614.0,
+     126.4
+    ],
+    [
+     611.0,
+     126.8
+    ],
+    [
+     608.4,
+     128.1
+    ],
+    [
+     607.1,
+     129.0
+    ],
+    [
+     608.2,
+     129.9
+    ],
+    [
+     609.8,
+     130.8
+    ],
+    [
+     610.5,
+     131.3
+    ],
+    [
+     610.9,
+     131.1
+    ],
+    [
+     610.4,
+     131.2
+    ],
+    [
+     610.0,
+     131.2
+    ],
+    [
+     609.3,
+     131.8
+    ],
+    [
+     609.2,
+     132.5
+    ],
+    [
+     609.0,
+     132.8
+    ],
+    [
+     608.9,
+     133.0
+    ],
+    [
+     607.9,
+     134.2
+    ],
+    [
+     607.8,
+     134.1
+    ],
+    [
+     607.4,
+     134.5
+    ],
+    [
+     607.5,
+     134.3
+    ],
+    [
+     607.7,
+     134.3
+    ],
+    [
+     608.2,
+     133.9
+    ],
+    [
+     607.3,
+     133.8
+    ],
+    [
+     608.0,
+     134.0
+    ],
+    [
+     608.2,
+     133.9
+    ],
+    [
+     608.7,
+     134.0
+    ],
+    [
+     609.5,
+     134.3
+    ],
+    [
+     610.0,
+     135.1
+    ],
+    [
+     611.2,
+     135.3
+    ],
+    [
+     611.2,
+     135.3
+    ],
+    [
+     611.2,
+     135.3
+    ],
+    [
+     611.2,
+     135.3
+    ],
+    [
+     611.2,
+     135.3
+    ]
+   ],
+   "world_frame": "station world: +x forward (away from the robot base), +y robot's left, +z up; FK of the commanded joints via put_bottle.xml"
+  }
+ }
+}
\ No newline at end of file
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