diff --git a/.gitattributes b/.gitattributes
index 7e29936f35965af24917848c281d495bdf89ad07..e87130fbb73355010a982d1bbdcd18b549f02621 100644
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@@ -37,3 +37,4 @@ public/samples/s0006_e3d7715b_r_443/right_t-15.jpg filter=lfs diff=lfs merge=lfs
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 public/samples/s0006_e3d7715b_r_443/right_t.jpg filter=lfs diff=lfs merge=lfs -text
 public/samples/s0015_9bd892f2_l_2676/right_t.jpg filter=lfs diff=lfs merge=lfs -text
+public/samples/s0067_ab243717_r_37/right_t.jpg filter=lfs diff=lfs merge=lfs -text
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diff --git a/public/samples/s0045_857c5cd3_l_4161/sample.json b/public/samples/s0045_857c5cd3_l_4161/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..a67964e42a8596f3c80771b6875126043acec515
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+{
+ "id": "s0045_857c5cd3_l_4161",
+ "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",
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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": 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",
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+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ],
+   [
+    -0.81379,
+    1.89753,
+    1.37896,
+    -0.68099,
+    0.4295,
+    0.34815,
+    0.04844,
+    0.41798,
+    0.8222,
+    0.53238,
+    -0.79617,
+    0.12734,
+    1.01097,
+    0.00211
+   ]
+  ],
+  "state_t": [
+   -0.83181,
+   1.80686,
+   1.27623,
+   -0.54112,
+   0.26989,
+   0.27218,
+   0.51618,
+   0.41714,
+   0.98974,
+   0.47322,
+   -0.56668,
+   0.1524,
+   0.97677,
+   0.32783
+  ],
+  "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 -1.7 cm forward, -0.8 cm to the robot's left and -0.8 cm up from where it is now (path length 3.6 cm); in the top camera that is +3 px right and +8 px down. Gripper command: now 0.51 open; starts closing at +0.23 s and is shut (0.05) at +1.00 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5135,
+    -0.0437,
+    0.8396
+   ],
+   "grasp_site_now_uv": [
+    342.6,
+    267.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4965,
+    -0.0513,
+    0.8317
+   ],
+   "grasp_site_at_shut_uv": [
+    346.1,
+    275.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 7,
+   "close_done_frame": 30,
+   "path_len_cm": 3.6,
+   "path_uv_every_3_frames": [
+    [
+     345.6,
+     277.5
+    ],
+    [
+     346.5,
+     278.6
+    ],
+    [
+     347.3,
+     278.4
+    ],
+    [
+     348.9,
+     278.8
+    ],
+    [
+     350.0,
+     278.8
+    ],
+    [
+     350.0,
+     278.7
+    ],
+    [
+     349.7,
+     279.5
+    ],
+    [
+     349.7,
+     280.2
+    ],
+    [
+     349.3,
+     280.6
+    ],
+    [
+     347.4,
+     279.3
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ],
+    [
+     346.1,
+     275.9
+    ]
+   ],
+   "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/s0046_4457a343_r_491/right_t-30.jpg b/public/samples/s0046_4457a343_r_491/right_t-30.jpg
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diff --git a/public/samples/s0046_4457a343_r_491/right_t.jpg b/public/samples/s0046_4457a343_r_491/right_t.jpg
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Binary files /dev/null and b/public/samples/s0046_4457a343_r_491/right_t.jpg differ
diff --git a/public/samples/s0046_4457a343_r_491/sample.json b/public/samples/s0046_4457a343_r_491/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e9a0b2079b27335570b6d59b932b2aa1c72de
--- /dev/null
+++ b/public/samples/s0046_4457a343_r_491/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0046_4457a343_r_491",
+ "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": 73,
+  "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": [
+   [
+    -0.23974,
+    1.85545,
+    1.34358,
+    -0.52755,
+    -0.07874,
+    -0.30593,
+    0.54019,
+    0.86632,
+    1.42435,
+    1.70087,
+    -0.82845,
+    0.32062,
+    0.59584,
+    0.76212
+   ],
+   [
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+    1.84623,
+    1.34376,
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+    -0.07424,
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+    0.87467,
+    1.42207,
+    1.6984,
+    -0.81987,
+    0.3197,
+    0.58998,
+    0.75967
+   ],
+   [
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+    1.83465,
+    1.34377,
+    -0.5277,
+    -0.06317,
+    -0.31775,
+    0.5234,
+    0.88372,
+    1.42049,
+    1.69368,
+    -0.80962,
+    0.31855,
+    0.58544,
+    0.75765
+   ],
+   [
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+    1.82202,
+    1.34225,
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+    0.52027,
+    0.89019,
+    1.4192,
+    1.68906,
+    -0.80042,
+    0.31537,
+    0.58226,
+    0.75853
+   ],
+   [
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+    1.80887,
+    1.34223,
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+    0.51607,
+    0.89506,
+    1.41975,
+    1.68527,
+    -0.79198,
+    0.30855,
+    0.57837,
+    0.75755
+   ],
+   [
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+    1.79452,
+    1.34223,
+    -0.53357,
+    -0.03412,
+    -0.34571,
+    0.51465,
+    0.90339,
+    1.41941,
+    1.68149,
+    -0.78262,
+    0.30208,
+    0.57548,
+    0.75756
+   ],
+   [
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+    1.77328,
+    1.34256,
+    -0.5382,
+    -0.02415,
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+    0.51247,
+    0.90903,
+    1.42045,
+    1.67765,
+    -0.77538,
+    0.2922,
+    0.57134,
+    0.75889
+   ],
+   [
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+    1.75224,
+    1.34157,
+    -0.5407,
+    -0.01421,
+    -0.37757,
+    0.51226,
+    0.91517,
+    1.42274,
+    1.67245,
+    -0.76545,
+    0.28258,
+    0.56553,
+    0.76083
+   ],
+   [
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+    1.7238,
+    1.33936,
+    -0.5436,
+    0.00214,
+    -0.40075,
+    0.51233,
+    0.92265,
+    1.42636,
+    1.66659,
+    -0.76,
+    0.27778,
+    0.56204,
+    0.76075
+   ],
+   [
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+    1.69243,
+    1.3384,
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+    0.92517,
+    1.43149,
+    1.66448,
+    -0.75492,
+    0.27276,
+    0.56106,
+    0.76527
+   ],
+   [
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+    1.66291,
+    1.33621,
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+    0.04918,
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+    0.51233,
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+    1.43817,
+    1.66122,
+    -0.75089,
+    0.2626,
+    0.56136,
+    0.76809
+   ],
+   [
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+    1.62778,
+    1.33307,
+    -0.54801,
+    0.08245,
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+    1.44693,
+    1.65829,
+    -0.74763,
+    0.25301,
+    0.56407,
+    0.77221
+   ],
+   [
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+    1.59248,
+    1.32637,
+    -0.54763,
+    0.12008,
+    -0.52987,
+    0.52473,
+    0.92706,
+    1.45621,
+    1.65557,
+    -0.74363,
+    0.24457,
+    0.56721,
+    0.78527
+   ],
+   [
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+    0.15245,
+    -0.55603,
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+    1.46504,
+    1.65383,
+    -0.73625,
+    0.22747,
+    0.56908,
+    0.80316
+   ],
+   [
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+    1.53091,
+    1.31791,
+    -0.54306,
+    0.19275,
+    -0.59167,
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+    1.47794,
+    1.65507,
+    -0.72901,
+    0.20421,
+    0.56911,
+    0.81743
+   ],
+   [
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+    1.50095,
+    1.3125,
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+    0.22879,
+    -0.62175,
+    0.54359,
+    0.92323,
+    1.4891,
+    1.65782,
+    -0.72316,
+    0.18744,
+    0.56911,
+    0.83037
+   ],
+   [
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+    1.47755,
+    1.30651,
+    -0.5352,
+    0.26689,
+    -0.64931,
+    0.55049,
+    0.92203,
+    1.50277,
+    1.66108,
+    -0.71253,
+    0.16226,
+    0.56793,
+    0.8486
+   ],
+   [
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+    1.45289,
+    1.29566,
+    -0.52385,
+    0.31166,
+    -0.684,
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+    0.92051,
+    1.5191,
+    1.67053,
+    -0.7061,
+    0.13646,
+    0.56347,
+    0.86481
+   ],
+   [
+    -0.1331,
+    1.42815,
+    1.28138,
+    -0.50886,
+    0.35692,
+    -0.72086,
+    0.55792,
+    0.92334,
+    1.53305,
+    1.67767,
+    -0.70202,
+    0.1219,
+    0.56144,
+    0.88359
+   ],
+   [
+    -0.13244,
+    1.41126,
+    1.26566,
+    -0.49295,
+    0.39566,
+    -0.75764,
+    0.5569,
+    0.9248,
+    1.54877,
+    1.68709,
+    -0.69555,
+    0.10555,
+    0.55785,
+    0.9078
+   ],
+   [
+    -0.13275,
+    1.38695,
+    1.24416,
+    -0.46816,
+    0.43795,
+    -0.8022,
+    0.56006,
+    0.92621,
+    1.56556,
+    1.69411,
+    -0.68978,
+    0.09363,
+    0.55564,
+    0.925
+   ],
+   [
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+    1.36459,
+    1.2242,
+    -0.44324,
+    0.47536,
+    -0.84364,
+    0.56041,
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+   ],
+   [
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+   ],
+   [
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+    1.87781,
+    2.03559,
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+    0.22911,
+    0.52328,
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+   ],
+   [
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+    1.05223,
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+    2.03559,
+    -0.85064,
+    0.22911,
+    0.52328,
+    0.56271
+   ]
+  ],
+  "state_t": [
+   -0.26493,
+   1.91215,
+   1.32887,
+   -0.53769,
+   -0.07191,
+   -0.2985,
+   0.55431,
+   0.83562,
+   1.45438,
+   1.71912,
+   -0.8753,
+   0.31567,
+   0.61246,
+   0.76917
+  ],
+  "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 +1.5 cm forward, +14.0 cm to the robot's left and -5.3 cm up from where it is now (path length 20.3 cm); in the top camera that is -70 px right and +11 px down. Gripper command: now 0.76 open; starts closing at +1.00 s and is shut (0.56) at +2.43 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.562,
+    -0.0464,
+    1.1132
+   ],
+   "grasp_site_now_uv": [
+    341.6,
+    180.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5772,
+    0.0937,
+    1.0604
+   ],
+   "grasp_site_at_shut_uv": [
+    271.5,
+    190.5
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 30,
+   "close_done_frame": 73,
+   "path_len_cm": 20.3,
+   "path_uv_every_3_frames": [
+    [
+     338.2,
+     179.2
+    ],
+    [
+     333.2,
+     180.8
+    ],
+    [
+     327.2,
+     183.5
+    ],
+    [
+     321.0,
+     187.1
+    ],
+    [
+     315.6,
+     190.7
+    ],
+    [
+     308.0,
+     193.2
+    ],
+    [
+     298.4,
+     195.1
+    ],
+    [
+     290.8,
+     195.8
+    ],
+    [
+     285.6,
+     195.0
+    ],
+    [
+     283.2,
+     193.2
+    ],
+    [
+     281.2,
+     192.0
+    ],
+    [
+     278.5,
+     191.9
+    ],
+    [
+     276.3,
+     192.6
+    ],
+    [
+     273.9,
+     192.7
+    ],
+    [
+     270.6,
+     192.3
+    ],
+    [
+     268.6,
+     192.6
+    ],
+    [
+     268.0,
+     193.1
+    ],
+    [
+     267.4,
+     193.7
+    ],
+    [
+     267.7,
+     194.0
+    ],
+    [
+     268.1,
+     194.3
+    ],
+    [
+     268.6,
+     194.2
+    ],
+    [
+     269.0,
+     193.5
+    ],
+    [
+     269.1,
+     193.0
+    ],
+    [
+     269.7,
+     192.3
+    ],
+    [
+     271.0,
+     191.0
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ],
+    [
+     271.5,
+     190.5
+    ]
+   ],
+   "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": "s0047_e2706a7a_r_831",
+ "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": 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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+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ],
+   [
+    -0.12405,
+    0.79877,
+    0.40865,
+    0.02342,
+    0.09042,
+    -0.83171,
+    0.98569,
+    0.79872,
+    2.11289,
+    1.36232,
+    0.07397,
+    0.21401,
+    0.24358,
+    0.2148
+   ]
+  ],
+  "state_t": [
+   -0.12531,
+   1.57492,
+   1.20603,
+   -0.1318,
+   0.15774,
+   -0.61017,
+   0.98323,
+   0.69715,
+   1.69356,
+   0.9432,
+   0.1627,
+   0.03567,
+   0.26761,
+   0.7242
+  ],
+  "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 +5.1 cm forward, +7.8 cm to the robot's left and -5.1 cm up from where it is now (path length 14.1 cm); in the top camera that is -29 px right and -6 px down. Gripper command: now 0.72 open; starts closing at +0.20 s and is shut (0.21) at +0.77 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6209,
+    -0.0094,
+    0.8676
+   ],
+   "grasp_site_now_uv": [
+    326.3,
+    221.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6715,
+    0.0686,
+    0.8166
+   ],
+   "grasp_site_at_shut_uv": [
+    297.3,
+    216.2
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 6,
+   "close_done_frame": 23,
+   "path_len_cm": 14.1,
+   "path_uv_every_3_frames": [
+    [
+     316.5,
+     216.4
+    ],
+    [
+     309.6,
+     218.1
+    ],
+    [
+     303.7,
+     220.6
+    ],
+    [
+     298.6,
+     222.4
+    ],
+    [
+     295.7,
+     222.9
+    ],
+    [
+     295.7,
+     222.0
+    ],
+    [
+     297.2,
+     221.0
+    ],
+    [
+     297.7,
+     219.3
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ],
+    [
+     297.3,
+     216.2
+    ]
+   ],
+   "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/s0048_851c71e4_l_3264/sample.json b/public/samples/s0048_851c71e4_l_3264/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..f307c6b093744ff4959862eb567d5ac7387b3ca5
--- /dev/null
+++ b/public/samples/s0048_851c71e4_l_3264/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0048_851c71e4_l_3264",
+ "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": 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": [
+   [
+    -0.44792,
+    1.48856,
+    1.34987,
+    -0.09509,
+    0.60545,
+    -0.81292,
+    0.6285,
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+    1.45234,
+    1.35311,
+    -0.42108,
+    0.08514,
+    0.19524,
+    0.53984
+   ],
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+    1.45412,
+    1.35483,
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+    0.191,
+    0.54152
+   ],
+   [
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+    1.49711,
+    1.34428,
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+    1.45407,
+    1.35655,
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+    0.08416,
+    0.18874,
+    0.53983
+   ],
+   [
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+   ],
+   [
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+    1.45468,
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+    0.08608,
+    0.18798,
+    0.54016
+   ],
+   [
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+    1.36044,
+    -0.42482,
+    0.08605,
+    0.18639,
+    0.53992
+   ],
+   [
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+    1.5048,
+    1.3453,
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+    0.80673,
+    1.45368,
+    1.35966,
+    -0.425,
+    0.08501,
+    0.18708,
+    0.53981
+   ],
+   [
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+    1.45414,
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+    0.08371,
+    0.18542,
+    0.54024
+   ],
+   [
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+    1.45544,
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+   ],
+   [
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+    1.35891,
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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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+    1.46055,
+    1.36677,
+    -0.42322,
+    0.08029,
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+   ],
+   [
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+    1.46301,
+    1.36741,
+    -0.42335,
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+    0.54067
+   ],
+   [
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+    1.36803,
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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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+    1.45695,
+    1.36115,
+    -0.42415,
+    0.09688,
+    0.18695,
+    0.61047
+   ],
+   [
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+    1.51864,
+    1.37532,
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+    0.63855,
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+    0.2244,
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+    1.45695,
+    1.36115,
+    -0.42415,
+    0.09688,
+    0.18695,
+    0.61047
+   ],
+   [
+    -0.45415,
+    1.51864,
+    1.37532,
+    -0.10543,
+    0.63855,
+    -0.80657,
+    0.2244,
+    0.80612,
+    1.45695,
+    1.36115,
+    -0.42415,
+    0.09688,
+    0.18695,
+    0.61047
+   ]
+  ],
+  "state_t": [
+   -0.44079,
+   1.51694,
+   1.351,
+   -0.1524,
+   0.5766,
+   -0.82113,
+   0.64009,
+   0.78603,
+   1.44408,
+   1.31628,
+   -0.42515,
+   0.11349,
+   0.19703,
+   0.5404
+  ],
+  "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 -0.9 cm forward, -1.2 cm to the robot's left and +2.2 cm up from where it is now (path length 2.0 cm); in the top camera that is +6 px right and -4 px down. Gripper command: now 0.63 open; starts closing at +0.00 s and is shut (0.22) at +0.80 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6317,
+    0.0286,
+    1.0786
+   ],
+   "grasp_site_now_uv": [
+    308.3,
+    165.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6226,
+    0.0166,
+    1.1002
+   ],
+   "grasp_site_at_shut_uv": [
+    313.8,
+    161.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 24,
+   "path_len_cm": 2.0,
+   "path_uv_every_3_frames": [
+    [
+     309.7,
+     160.8
+    ],
+    [
+     311.5,
+     162.0
+    ],
+    [
+     311.9,
+     161.9
+    ],
+    [
+     311.9,
+     161.4
+    ],
+    [
+     312.2,
+     161.5
+    ],
+    [
+     313.5,
+     162.5
+    ],
+    [
+     314.8,
+     163.4
+    ],
+    [
+     314.8,
+     162.9
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ],
+    [
+     313.8,
+     161.8
+    ]
+   ],
+   "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/s0049_df25bf3b_l_1955/sample.json b/public/samples/s0049_df25bf3b_l_1955/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..8004fc61c0f13bda8d476869a0c8d6284f68441f
--- /dev/null
+++ b/public/samples/s0049_df25bf3b_l_1955/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0049_df25bf3b_l_1955",
+ "task": "place_the_coffee_filter_in_the_dripper",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
+   15,
+   30
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+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ],
+   [
+    -0.01104,
+    1.47893,
+    1.10906,
+    -0.75875,
+    0.04315,
+    0.45089,
+    0.0,
+    -0.01994,
+    1.13549,
+    0.93738,
+    -0.5032,
+    -0.74226,
+    -0.38647,
+    0.98466
+   ]
+  ],
+  "state_t": [
+   -0.65824,
+   1.70081,
+   1.61421,
+   -0.87797,
+   0.46101,
+   0.18406,
+   0.98492,
+   0.44804,
+   1.29797,
+   1.13584,
+   -0.58156,
+   -0.62657,
+   -0.107,
+   0.68642
+  ],
+  "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 +5.4 cm forward, +31.3 cm to the robot's left and -10.5 cm up from where it is now (path length 59.2 cm); in the top camera that is -126 px right and +4 px down. Gripper command: now 0.99 open; starts closing at +1.73 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": [
+    0.5483,
+    -0.0143,
+    0.9784
+   ],
+   "grasp_site_now_uv": [
+    317.6,
+    224.7
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6026,
+    0.2988,
+    0.8739
+   ],
+   "grasp_site_at_shut_uv": [
+    191.4,
+    228.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 52,
+   "close_done_frame": 110,
+   "path_len_cm": 59.2,
+   "path_uv_every_3_frames": [
+    [
+     316.6,
+     217.3
+    ],
+    [
+     316.6,
+     216.2
+    ],
+    [
+     316.5,
+     215.2
+    ],
+    [
+     316.1,
+     214.2
+    ],
+    [
+     315.4,
+     213.2
+    ],
+    [
+     314.5,
+     211.7
+    ],
+    [
+     313.0,
+     209.8
+    ],
+    [
+     310.8,
+     206.7
+    ],
+    [
+     307.5,
+     202.0
+    ],
+    [
+     303.4,
+     196.7
+    ],
+    [
+     297.5,
+     190.6
+    ],
+    [
+     290.2,
+     183.7
+    ],
+    [
+     280.7,
+     176.8
+    ],
+    [
+     268.9,
+     170.3
+    ],
+    [
+     255.4,
+     166.3
+    ],
+    [
+     241.6,
+     165.1
+    ],
+    [
+     226.8,
+     166.1
+    ],
+    [
+     213.5,
+     169.4
+    ],
+    [
+     205.0,
+     174.2
+    ],
+    [
+     200.1,
+     180.0
+    ],
+    [
+     197.5,
+     187.4
+    ],
+    [
+     195.7,
+     193.3
+    ],
+    [
+     194.1,
+     198.5
+    ],
+    [
+     192.4,
+     203.4
+    ],
+    [
+     190.4,
+     206.3
+    ],
+    [
+     188.3,
+     208.1
+    ],
+    [
+     187.0,
+     210.7
+    ],
+    [
+     187.3,
+     213.5
+    ],
+    [
+     188.4,
+     215.6
+    ],
+    [
+     190.2,
+     218.3
+    ],
+    [
+     192.4,
+     221.3
+    ],
+    [
+     193.7,
+     223.4
+    ],
+    [
+     194.5,
+     225.3
+    ],
+    [
+     194.6,
+     227.4
+    ],
+    [
+     194.2,
+     228.6
+    ],
+    [
+     192.7,
+     228.8
+    ],
+    [
+     191.7,
+     228.9
+    ],
+    [
+     191.4,
+     228.9
+    ],
+    [
+     191.4,
+     228.9
+    ],
+    [
+     191.4,
+     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
diff --git a/public/samples/s0049_df25bf3b_l_1955/top_t-15.jpg b/public/samples/s0049_df25bf3b_l_1955/top_t-15.jpg
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new file mode 100644
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diff --git a/public/samples/s0050_a43f2ed7_r_180/left_t.jpg b/public/samples/s0050_a43f2ed7_r_180/left_t.jpg
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diff --git a/public/samples/s0050_a43f2ed7_r_180/overlay_t.jpg b/public/samples/s0050_a43f2ed7_r_180/overlay_t.jpg
new file mode 100644
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diff --git a/public/samples/s0050_a43f2ed7_r_180/right_t-15.jpg b/public/samples/s0050_a43f2ed7_r_180/right_t-15.jpg
new file mode 100644
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diff --git a/public/samples/s0050_a43f2ed7_r_180/right_t-30.jpg b/public/samples/s0050_a43f2ed7_r_180/right_t-30.jpg
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diff --git a/public/samples/s0050_a43f2ed7_r_180/right_t.jpg b/public/samples/s0050_a43f2ed7_r_180/right_t.jpg
new file mode 100644
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Binary files /dev/null and b/public/samples/s0050_a43f2ed7_r_180/right_t.jpg differ
diff --git a/public/samples/s0050_a43f2ed7_r_180/sample.json b/public/samples/s0050_a43f2ed7_r_180/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..783706079904eceb779e8ed66c895d7d22fb95bc
--- /dev/null
+++ b/public/samples/s0050_a43f2ed7_r_180/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0050_a43f2ed7_r_180",
+ "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": 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": [
+   [
+    -0.71175,
+    0.9081,
+    0.81301,
+    -0.57064,
+    -0.00462,
+    -0.49087,
+    0.98904,
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+    1.3546,
+    0.91444,
+    -0.30377,
+    0.30226,
+    0.62859,
+    0.76619
+   ],
+   [
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+    0.64715,
+    0.75468
+   ],
+   [
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+    1.36814,
+    0.90503,
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+    0.17833,
+    0.64126,
+    0.80229
+   ],
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+   ],
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+    1.38968,
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+   ],
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+    0.99779
+   ],
+   [
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+    0.24065,
+    0.69183,
+    0.99564
+   ],
+   [
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+   ],
+   [
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+    1.41273,
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+   ],
+   [
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+   ],
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+    1.43716,
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+   ],
+   [
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+    1.44645,
+    0.85288,
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+    1.4863,
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+    0.31907,
+    0.69948,
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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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+    0.42801,
+    0.67339,
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+   ],
+   [
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+    1.63239,
+    0.9374,
+    -0.51997,
+    0.42801,
+    0.67339,
+    0.52668
+   ],
+   [
+    -0.71023,
+    0.902,
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+    0.98687,
+    0.14418,
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+    0.9374,
+    -0.51997,
+    0.42801,
+    0.67339,
+    0.52668
+   ]
+  ],
+  "state_t": [
+   -0.70745,
+   0.90047,
+   0.81083,
+   -0.62543,
+   -0.02918,
+   -0.49458,
+   0.98683,
+   0.14935,
+   1.42691,
+   1.00652,
+   -0.41905,
+   0.27104,
+   0.49382,
+   0.92897
+  ],
+  "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 -4.2 cm forward, -3.4 cm to the robot's left and -10.1 cm up from where it is now (path length 20.5 cm); in the top camera that is +6 px right and +38 px down. Gripper command: now 0.77 open; starts closing at +1.10 s and is shut (0.53) at +1.70 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6441,
+    -0.2971,
+    0.9031
+   ],
+   "grasp_site_now_uv": [
+    455.5,
+    204.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6016,
+    -0.3306,
+    0.8024
+   ],
+   "grasp_site_at_shut_uv": [
+    461.0,
+    242.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 33,
+   "close_done_frame": 51,
+   "path_len_cm": 20.5,
+   "path_uv_every_3_frames": [
+    [
+     460.2,
+     203.7
+    ],
+    [
+     447.0,
+     210.8
+    ],
+    [
+     447.5,
+     219.7
+    ],
+    [
+     451.1,
+     225.9
+    ],
+    [
+     454.1,
+     228.0
+    ],
+    [
+     456.5,
+     231.5
+    ],
+    [
+     456.0,
+     234.1
+    ],
+    [
+     455.0,
+     234.1
+    ],
+    [
+     453.9,
+     233.1
+    ],
+    [
+     453.6,
+     231.4
+    ],
+    [
+     453.6,
+     231.0
+    ],
+    [
+     454.9,
+     232.7
+    ],
+    [
+     455.8,
+     234.5
+    ],
+    [
+     456.7,
+     236.5
+    ],
+    [
+     457.1,
+     238.4
+    ],
+    [
+     458.4,
+     240.6
+    ],
+    [
+     459.1,
+     243.0
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ],
+    [
+     461.0,
+     242.8
+    ]
+   ],
+   "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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new file mode 100644
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diff --git a/public/samples/s0051_0c28c098_r_406/right_t-15.jpg b/public/samples/s0051_0c28c098_r_406/right_t-15.jpg
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diff --git a/public/samples/s0051_0c28c098_r_406/sample.json b/public/samples/s0051_0c28c098_r_406/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb8ad7be704735e165209254a8489940f3c685
--- /dev/null
+++ b/public/samples/s0051_0c28c098_r_406/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0051_0c28c098_r_406",
+ "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",
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+    -0.51695,
+    -0.38805,
+    0.18719,
+    0.0
+   ],
+   [
+    -0.60899,
+    1.81313,
+    1.61677,
+    -0.53844,
+    0.59677,
+    -0.33292,
+    0.02044,
+    0.38509,
+    1.34372,
+    1.14745,
+    -0.51695,
+    -0.38805,
+    0.18719,
+    0.0
+   ],
+   [
+    -0.60899,
+    1.81313,
+    1.61677,
+    -0.53844,
+    0.59677,
+    -0.33292,
+    0.02044,
+    0.38509,
+    1.34372,
+    1.14745,
+    -0.51695,
+    -0.38805,
+    0.18719,
+    0.0
+   ],
+   [
+    -0.60899,
+    1.81313,
+    1.61677,
+    -0.53844,
+    0.59677,
+    -0.33292,
+    0.02044,
+    0.38509,
+    1.34372,
+    1.14745,
+    -0.51695,
+    -0.38805,
+    0.18719,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.57088,
+   1.6249,
+   1.62222,
+   -0.77192,
+   0.47589,
+   -0.11654,
+   0.05174,
+   0.84173,
+   0.93099,
+   1.07061,
+   -0.38014,
+   0.09289,
+   -0.59606,
+   0.90704
+  ],
+  "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 +10.1 cm forward, -3.3 cm to the robot's left and -13.0 cm up from where it is now (path length 19.9 cm); in the top camera that is +8 px right and -6 px down. Gripper command: now 0.91 open; starts closing at +0.00 s and is shut (0.00) at +0.93 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.486,
+    -0.0722,
+    1.1113
+   ],
+   "grasp_site_now_uv": [
+    363.8,
+    208.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5875,
+    -0.1048,
+    0.9809
+   ],
+   "grasp_site_at_shut_uv": [
+    371.7,
+    202.5
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 28,
+   "path_len_cm": 19.9,
+   "path_uv_every_3_frames": [
+    [
+     370.8,
+     195.7
+    ],
+    [
+     373.4,
+     185.2
+    ],
+    [
+     374.0,
+     181.5
+    ],
+    [
+     370.0,
+     186.6
+    ],
+    [
+     368.1,
+     190.4
+    ],
+    [
+     366.7,
+     192.0
+    ],
+    [
+     366.4,
+     193.0
+    ],
+    [
+     367.1,
+     196.9
+    ],
+    [
+     368.8,
+     200.6
+    ],
+    [
+     371.2,
+     202.1
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ],
+    [
+     371.7,
+     202.5
+    ]
+   ],
+   "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/s0052_2b47bdf1_l_43/sample.json b/public/samples/s0052_2b47bdf1_l_43/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..708e74f1836750e49e41b098c6591993d7168e1d
--- /dev/null
+++ b/public/samples/s0052_2b47bdf1_l_43/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0052_2b47bdf1_l_43",
+ "task": "place_and_organize_the_pasta_boxes_and_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",
+   "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",
+  "actions": [
+   [
+    -0.30833,
+    1.56452,
+    1.00313,
+    -0.13346,
+    -0.02761,
+    -0.97552,
+    1.0,
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+    1.30362,
+    0.8727,
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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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+    1.65823,
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+    0.06759,
+    0.23019,
+    0.98427
+   ],
+   [
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+    1.79169,
+    1.11367,
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+    0.01074,
+    -1.01243,
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+    1.65823,
+    0.99249,
+    -0.00614,
+    0.06759,
+    0.23019,
+    0.98427
+   ]
+  ],
+  "state_t": [
+   -0.31453,
+   1.51007,
+   0.95045,
+   -0.17834,
+   -0.00629,
+   -0.94739,
+   1.00082,
+   0.86156,
+   1.24418,
+   0.83524,
+   -0.11807,
+   0.01583,
+   0.3687,
+   0.98301
+  ],
+  "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 +4.6 cm forward, -1.9 cm to the robot's left and -4.7 cm up from where it is now (path length 8.4 cm); in the top camera that is +13 px right and -4 px down. Gripper command: now 1.00 open; starts closing at +0.17 s and is shut (0.24) at +1.17 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.656,
+    0.1799,
+    0.8841
+   ],
+   "grasp_site_now_uv": [
+    347.7,
+    204.4
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7017,
+    0.1604,
+    0.8369
+   ],
+   "grasp_site_at_shut_uv": [
+    360.2,
+    200.0
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 5,
+   "close_done_frame": 35,
+   "path_len_cm": 8.4,
+   "path_uv_every_3_frames": [
+    [
+     348.2,
+     194.6
+    ],
+    [
+     350.2,
+     192.9
+    ],
+    [
+     352.0,
+     191.0
+    ],
+    [
+     353.4,
+     192.5
+    ],
+    [
+     354.3,
+     193.4
+    ],
+    [
+     356.7,
+     197.1
+    ],
+    [
+     357.4,
+     198.2
+    ],
+    [
+     358.2,
+     199.6
+    ],
+    [
+     359.0,
+     201.5
+    ],
+    [
+     359.9,
+     200.8
+    ],
+    [
+     360.4,
+     201.0
+    ],
+    [
+     360.6,
+     200.1
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ],
+    [
+     360.2,
+     200.0
+    ]
+   ],
+   "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/s0053_7fe08c80_r_1177/sample.json b/public/samples/s0053_7fe08c80_r_1177/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17f0690f5292107d3460c53a554455d40781b60
--- /dev/null
+++ b/public/samples/s0053_7fe08c80_r_1177/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0053_7fe08c80_r_1177",
+ "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": 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": [
+   [
+    -0.43105,
+    0.13496,
+    0.66573,
+    -0.80997,
+    -0.04145,
+    -0.86675,
+    0.98028,
+    0.44795,
+    1.58927,
+    1.26555,
+    -0.26685,
+    0.10364,
+    0.09905,
+    0.59207
+   ],
+   [
+    -0.43257,
+    0.13955,
+    0.66727,
+    -0.80387,
+    -0.03534,
+    -0.85303,
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+    0.07239,
+    0.0
+   ],
+   [
+    -0.93266,
+    0.28845,
+    0.46937,
+    -0.29141,
+    -0.09971,
+    -0.40189,
+    0.8926,
+    0.65041,
+    1.68905,
+    1.17962,
+    -0.62421,
+    0.05518,
+    0.07239,
+    0.0
+   ],
+   [
+    -0.93266,
+    0.28845,
+    0.46937,
+    -0.29141,
+    -0.09971,
+    -0.40189,
+    0.8926,
+    0.65041,
+    1.68905,
+    1.17962,
+    -0.62421,
+    0.05518,
+    0.07239,
+    0.0
+   ],
+   [
+    -0.93266,
+    0.28845,
+    0.46937,
+    -0.29141,
+    -0.09971,
+    -0.40189,
+    0.8926,
+    0.65041,
+    1.68905,
+    1.17962,
+    -0.62421,
+    0.05518,
+    0.07239,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.43622,
+   0.12074,
+   0.66014,
+   -0.84173,
+   -0.04292,
+   -0.88064,
+   0.98174,
+   0.46139,
+   1.66457,
+   1.28767,
+   -0.33169,
+   0.41066,
+   0.28897,
+   0.54638
+  ],
+  "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 -12.8 cm forward, +8.5 cm to the robot's left and -10.5 cm up from where it is now (path length 70.2 cm); in the top camera that is -39 px right and +73 px down. Gripper command: now 0.59 open; starts closing at +1.47 s and is shut (0.00) at +3.50 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7028,
+    -0.1619,
+    0.9429
+   ],
+   "grasp_site_now_uv": [
+    395.4,
+    174.9
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5745,
+    -0.0768,
+    0.8382
+   ],
+   "grasp_site_at_shut_uv": [
+    356.3,
+    248.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 44,
+   "close_done_frame": 105,
+   "path_len_cm": 70.2,
+   "path_uv_every_3_frames": [
+    [
+     377.8,
+     170.7
+    ],
+    [
+     358.3,
+     187.7
+    ],
+    [
+     356.3,
+     206.3
+    ],
+    [
+     360.4,
+     227.3
+    ],
+    [
+     371.5,
+     238.6
+    ],
+    [
+     381.9,
+     242.6
+    ],
+    [
+     393.2,
+     241.4
+    ],
+    [
+     406.1,
+     239.9
+    ],
+    [
+     417.5,
+     239.9
+    ],
+    [
+     430.4,
+     238.2
+    ],
+    [
+     436.4,
+     239.9
+    ],
+    [
+     439.2,
+     240.9
+    ],
+    [
+     440.4,
+     241.2
+    ],
+    [
+     441.1,
+     242.0
+    ],
+    [
+     442.0,
+     242.9
+    ],
+    [
+     439.4,
+     245.6
+    ],
+    [
+     432.3,
+     255.2
+    ],
+    [
+     425.5,
+     257.4
+    ],
+    [
+     410.1,
+     255.5
+    ],
+    [
+     393.4,
+     249.6
+    ],
+    [
+     377.2,
+     247.2
+    ],
+    [
+     364.1,
+     247.3
+    ],
+    [
+     361.4,
+     243.2
+    ],
+    [
+     358.3,
+     241.3
+    ],
+    [
+     354.3,
+     242.6
+    ],
+    [
+     354.5,
+     242.7
+    ],
+    [
+     355.4,
+     243.1
+    ],
+    [
+     355.3,
+     244.2
+    ],
+    [
+     355.9,
+     243.5
+    ],
+    [
+     355.5,
+     245.8
+    ],
+    [
+     356.9,
+     245.7
+    ],
+    [
+     356.1,
+     247.1
+    ],
+    [
+     354.5,
+     250.0
+    ],
+    [
+     352.6,
+     251.7
+    ],
+    [
+     353.9,
+     250.9
+    ],
+    [
+     356.3,
+     248.1
+    ],
+    [
+     356.3,
+     248.1
+    ],
+    [
+     356.3,
+     248.1
+    ],
+    [
+     356.3,
+     248.1
+    ],
+    [
+     356.3,
+     248.1
+    ]
+   ],
+   "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/s0054_4ab71f4f_l_1955/left_t.jpg b/public/samples/s0054_4ab71f4f_l_1955/left_t.jpg
new file mode 100644
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Binary files /dev/null and b/public/samples/s0054_4ab71f4f_l_1955/left_t.jpg differ
diff --git a/public/samples/s0054_4ab71f4f_l_1955/overlay_t.jpg b/public/samples/s0054_4ab71f4f_l_1955/overlay_t.jpg
new file mode 100644
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Binary files /dev/null and b/public/samples/s0054_4ab71f4f_l_1955/overlay_t.jpg differ
diff --git a/public/samples/s0054_4ab71f4f_l_1955/right_t-15.jpg b/public/samples/s0054_4ab71f4f_l_1955/right_t-15.jpg
new file mode 100644
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diff --git a/public/samples/s0054_4ab71f4f_l_1955/right_t-30.jpg b/public/samples/s0054_4ab71f4f_l_1955/right_t-30.jpg
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diff --git a/public/samples/s0054_4ab71f4f_l_1955/right_t.jpg b/public/samples/s0054_4ab71f4f_l_1955/right_t.jpg
new file mode 100644
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Binary files /dev/null and b/public/samples/s0054_4ab71f4f_l_1955/right_t.jpg differ
diff --git a/public/samples/s0054_4ab71f4f_l_1955/sample.json b/public/samples/s0054_4ab71f4f_l_1955/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aaf2a9d1915d2b4c7846a993ef03e12404dad84
--- /dev/null
+++ b/public/samples/s0054_4ab71f4f_l_1955/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0054_4ab71f4f_l_1955",
+ "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": 43,
+  "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": [
+   [
+    -0.81641,
+    1.67803,
+    1.36195,
+    -0.47083,
+    -0.47317,
+    -0.69679,
+    0.99621,
+    0.11477,
+    0.78784,
+    0.5915,
+    -0.64968,
+    0.07542,
+    0.80358,
+    0.99509
+   ],
+   [
+    -0.80167,
+    1.62978,
+    1.2938,
+    -0.46474,
+    -0.47129,
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+    0.99701,
+    0.13255,
+    0.79199,
+    0.59411,
+    -0.63931,
+    0.0822,
+    0.80446,
+    0.99426
+   ],
+   [
+    -0.792,
+    1.59339,
+    1.21984,
+    -0.4571,
+    -0.47111,
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+    0.99631,
+    0.15908,
+    0.80173,
+    0.59542,
+    -0.63105,
+    0.09479,
+    0.80797,
+    0.99384
+   ],
+   [
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+    1.55141,
+    1.16676,
+    -0.44407,
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+    0.99158,
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+    0.81734,
+    0.6022,
+    -0.62386,
+    0.10645,
+    0.81202,
+    0.99473
+   ],
+   [
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+    1.52122,
+    1.10877,
+    -0.43066,
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+    0.98264,
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+    0.82975,
+    0.60943,
+    -0.62026,
+    0.12609,
+    0.81712,
+    0.99517
+   ],
+   [
+    -0.76513,
+    1.49462,
+    1.07057,
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+    0.97489,
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+    0.84976,
+    0.61918,
+    -0.61386,
+    0.14358,
+    0.82273,
+    0.9943
+   ],
+   [
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+    1.48055,
+    1.03843,
+    -0.40257,
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+    0.96662,
+    0.28635,
+    0.8659,
+    0.62712,
+    -0.60836,
+    0.16536,
+    0.83091,
+    0.99496
+   ],
+   [
+    -0.75886,
+    1.47812,
+    1.02159,
+    -0.39303,
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+    0.9603,
+    0.32035,
+    0.89084,
+    0.638,
+    -0.60177,
+    0.18009,
+    0.83653,
+    0.99419
+   ],
+   [
+    -0.75832,
+    1.48534,
+    1.01011,
+    -0.38596,
+    -0.35622,
+    -0.6623,
+    0.95714,
+    0.34348,
+    0.91022,
+    0.6465,
+    -0.59694,
+    0.19282,
+    0.84088,
+    0.9949
+   ],
+   [
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+    1.00513,
+    -0.37706,
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+    0.95994,
+    0.36502,
+    0.93448,
+    0.65613,
+    -0.593,
+    0.19995,
+    0.84535,
+    0.99417
+   ],
+   [
+    -0.76789,
+    1.5153,
+    1.00648,
+    -0.37337,
+    -0.31762,
+    -0.65108,
+    0.97011,
+    0.37963,
+    0.95121,
+    0.66247,
+    -0.58949,
+    0.20352,
+    0.84912,
+    0.9938
+   ],
+   [
+    -0.77588,
+    1.53538,
+    1.01099,
+    -0.37153,
+    -0.31374,
+    -0.64844,
+    0.97848,
+    0.38846,
+    0.96878,
+    0.66871,
+    -0.58773,
+    0.20454,
+    0.85177,
+    0.99471
+   ],
+   [
+    -0.79061,
+    1.56229,
+    1.02168,
+    -0.37061,
+    -0.31564,
+    -0.64712,
+    0.98814,
+    0.39442,
+    0.97987,
+    0.67106,
+    -0.58609,
+    0.20351,
+    0.85464,
+    0.99516
+   ],
+   [
+    -0.80258,
+    1.58188,
+    1.03086,
+    -0.36938,
+    -0.32349,
+    -0.64723,
+    0.99298,
+    0.39739,
+    0.98464,
+    0.67224,
+    -0.58834,
+    0.20453,
+    0.8553,
+    0.99429
+   ],
+   [
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+    1.60855,
+    1.04619,
+    -0.36877,
+    -0.32818,
+    -0.64652,
+    0.9943,
+    0.39888,
+    0.98473,
+    0.6736,
+    -0.59023,
+    0.20734,
+    0.85486,
+    0.99496
+   ],
+   [
+    -0.83418,
+    1.62802,
+    1.05845,
+    -0.3677,
+    -0.3359,
+    -0.6454,
+    0.99496,
+    0.39886,
+    0.9794,
+    0.67351,
+    -0.59577,
+    0.21412,
+    0.85388,
+    0.99419
+   ],
+   [
+    -0.84814,
+    1.65463,
+    1.07532,
+    -0.36716,
+    -0.34129,
+    -0.6456,
+    0.99638,
+    0.39655,
+    0.97291,
+    0.67423,
+    -0.60161,
+    0.21904,
+    0.85108,
+    0.9949
+   ],
+   [
+    -0.85588,
+    1.67407,
+    1.08683,
+    -0.36689,
+    -0.34475,
+    -0.65031,
+    0.996,
+    0.39309,
+    0.96122,
+    0.67459,
+    -0.60914,
+    0.22303,
+    0.84815,
+    0.99526
+   ],
+   [
+    -0.86129,
+    1.6976,
+    1.09948,
+    -0.36676,
+    -0.34572,
+    -0.65496,
+    0.9969,
+    0.38752,
+    0.95231,
+    0.67477,
+    -0.61597,
+    0.2258,
+    0.84592,
+    0.99544
+   ],
+   [
+    -0.86476,
+    1.7155,
+    1.10811,
+    -0.36822,
+    -0.3485,
+    -0.66189,
+    0.99626,
+    0.38168,
+    0.94018,
+    0.67409,
+    -0.62322,
+    0.22641,
+    0.8402,
+    0.99553
+   ],
+   [
+    -0.8665,
+    1.73212,
+    1.11626,
+    -0.36819,
+    -0.35219,
+    -0.66689,
+    0.99594,
+    0.37568,
+    0.93105,
+    0.67452,
+    -0.62914,
+    0.22595,
+    0.83658,
+    0.99448
+   ],
+   [
+    -0.86813,
+    1.7458,
+    1.12263,
+    -0.36817,
+    -0.35634,
+    -0.66632,
+    0.99687,
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+    0.92112,
+    0.67474,
+    -0.63671,
+    0.22419,
+    0.8317,
+    0.99505
+   ],
+   [
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+    1.13196,
+    -0.36893,
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+    -0.6645,
+    0.99625,
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+    0.91385,
+    0.67408,
+    -0.64509,
+    0.22254,
+    0.82772,
+    0.99424
+   ],
+   [
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+    0.90561,
+    0.67375,
+    -0.65005,
+    0.22095,
+    0.82343,
+    0.99383
+   ],
+   [
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+    0.90073,
+    0.67435,
+    -0.65483,
+    0.22015,
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+    0.99363
+   ],
+   [
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+   ],
+   [
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+    0.89477,
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+    0.81661,
+    0.99512
+   ],
+   [
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+    0.893,
+    0.67488,
+    -0.66342,
+    0.21735,
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+   ],
+   [
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+    1.83024,
+    1.1629,
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+    0.89289,
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+    -0.66535,
+    0.21682,
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+    0.99549
+   ],
+   [
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+    0.67455,
+    -0.66555,
+    0.21425,
+    0.81327,
+    0.99556
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+   ],
+   [
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+   ],
+   [
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+    0.88933,
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+    -0.63269,
+    0.16187,
+    0.78496,
+    0.99493
+   ],
+   [
+    -0.88367,
+    1.83813,
+    1.14482,
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+    -0.66097,
+    0.52841,
+    0.34644,
+    0.88933,
+    0.6636,
+    -0.63269,
+    0.16187,
+    0.78496,
+    0.99493
+   ]
+  ],
+  "state_t": [
+   -0.88178,
+   1.89536,
+   1.59476,
+   -0.49916,
+   -0.45262,
+   -0.68799,
+   0.99605,
+   0.0639,
+   0.78641,
+   0.54723,
+   -0.70821,
+   0.0227,
+   0.82876,
+   0.99223
+  ],
+  "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 -6.8 cm forward, +5.0 cm to the robot's left and -13.3 cm up from where it is now (path length 24.1 cm); in the top camera that is -23 px right and +57 px down. Gripper command: now 1.00 open; starts closing at +1.00 s and is shut (0.53) at +1.43 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6367,
+    -0.0395,
+    0.9363
+   ],
+   "grasp_site_now_uv": [
+    345.2,
+    200.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5683,
+    0.0101,
+    0.8034
+   ],
+   "grasp_site_at_shut_uv": [
+    322.6,
+    257.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 30,
+   "close_done_frame": 43,
+   "path_len_cm": 24.1,
+   "path_uv_every_3_frames": [
+    [
+     313.4,
+     202.9
+    ],
+    [
+     293.8,
+     216.7
+    ],
+    [
+     286.9,
+     228.3
+    ],
+    [
+     292.0,
+     236.2
+    ],
+    [
+     299.7,
+     242.1
+    ],
+    [
+     308.2,
+     245.3
+    ],
+    [
+     315.2,
+     247.7
+    ],
+    [
+     317.4,
+     249.0
+    ],
+    [
+     319.8,
+     250.0
+    ],
+    [
+     321.7,
+     251.9
+    ],
+    [
+     322.6,
+     254.4
+    ],
+    [
+     322.5,
+     256.7
+    ],
+    [
+     322.0,
+     258.1
+    ],
+    [
+     321.7,
+     258.6
+    ],
+    [
+     322.1,
+     258.2
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ],
+    [
+     322.6,
+     257.7
+    ]
+   ],
+   "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/s0055_e01b6a85_r_858/sample.json b/public/samples/s0055_e01b6a85_r_858/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ffd9265e905ba8768de065efa168031a801b55
--- /dev/null
+++ b/public/samples/s0055_e01b6a85_r_858/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0055_e01b6a85_r_858",
+ "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": 21,
+  "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": [
+   [
+    0.0859,
+    1.21657,
+    1.37598,
+    -0.8129,
+    0.27751,
+    0.16874,
+    0.99607,
+    -0.0046,
+    1.62885,
+    0.89891,
+    -0.45559,
+    -0.0858,
+    -0.14113,
+    0.74237
+   ],
+   [
+    0.0859,
+    1.20734,
+    1.37598,
+    -0.81301,
+    0.2655,
+    0.15051,
+    0.99607,
+    -0.0046,
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+    -0.77629,
+    0.18561,
+    0.13652,
+    0.99607,
+    -0.04295,
+    1.78109,
+    0.99402,
+    -0.42184,
+    -0.15647,
+    -0.11198,
+    0.21588
+   ],
+   [
+    0.09511,
+    1.1399,
+    1.35451,
+    -0.77629,
+    0.18561,
+    0.13652,
+    0.99607,
+    -0.04295,
+    1.78109,
+    0.99402,
+    -0.42184,
+    -0.15647,
+    -0.11198,
+    0.21588
+   ]
+  ],
+  "state_t": [
+   0.08564,
+   1.26478,
+   1.38228,
+   -0.82113,
+   0.29011,
+   0.23175,
+   0.99351,
+   0.01392,
+   1.53029,
+   0.88407,
+   -0.54761,
+   -0.1009,
+   -0.17224,
+   0.74237
+  ],
+  "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, -1.1 cm to the robot's left and -3.7 cm up from where it is now (path length 7.2 cm); in the top camera that is -2 px right and -9 px down. Gripper command: now 0.74 open; starts closing at +0.27 s and is shut (0.22) at +0.70 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5828,
+    -0.2883,
+    0.8021
+   ],
+   "grasp_site_now_uv": [
+    547.1,
+    251.7
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.6295,
+    -0.2997,
+    0.7648
+   ],
+   "grasp_site_at_shut_uv": [
+    545.4,
+    242.6
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 8,
+   "close_done_frame": 21,
+   "path_len_cm": 7.2,
+   "path_uv_every_3_frames": [
+    [
+     547.7,
+     248.5
+    ],
+    [
+     546.4,
+     247.8
+    ],
+    [
+     548.2,
+     247.4
+    ],
+    [
+     550.8,
+     245.5
+    ],
+    [
+     549.5,
+     246.6
+    ],
+    [
+     548.3,
+     248.3
+    ],
+    [
+     546.4,
+     247.7
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ],
+    [
+     545.4,
+     242.6
+    ]
+   ],
+   "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/s0056_773f0a91_r_366/right_t-15.jpg b/public/samples/s0056_773f0a91_r_366/right_t-15.jpg
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diff --git a/public/samples/s0056_773f0a91_r_366/sample.json b/public/samples/s0056_773f0a91_r_366/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..d574471572cb5295844d4c679ce66cfdbee88670
--- /dev/null
+++ b/public/samples/s0056_773f0a91_r_366/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0056_773f0a91_r_366",
+ "task": "place_and_organize_the_chips_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": 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": [
+   [
+    -0.31583,
+    0.5335,
+    0.51521,
+    0.35547,
+    0.1165,
+    -1.19331,
+    0.0,
+    0.24048,
+    0.57038,
+    0.45418,
+    0.36786,
+    -0.80876,
+    1.09828,
+    0.9803
+   ],
+   [
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+    0.55356,
+    0.54275,
+    0.3817,
+    0.11051,
+    -1.19495,
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+    0.58127,
+    0.43128,
+    0.42586,
+    -0.78411,
+    1.09985,
+    0.97811
+   ],
+   [
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+    0.57806,
+    0.56581,
+    0.41081,
+    0.09678,
+    -1.19193,
+    0.0,
+    0.29271,
+    0.59353,
+    0.4189,
+    0.46137,
+    -0.75653,
+    1.09075,
+    0.97809
+   ],
+   [
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+    0.64513,
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+    0.36588,
+    0.6225,
+    0.40815,
+    0.49817,
+    -0.7031,
+    1.08459,
+    0.97809
+   ],
+   [
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+    0.45093,
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+    -1.14909,
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+    0.39395,
+    0.63798,
+    0.39893,
+    0.58358,
+    -0.68131,
+    1.07541,
+    0.97809
+   ],
+   [
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+    0.71752,
+    0.70072,
+    0.46466,
+    0.0247,
+    -1.13984,
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+    0.42005,
+    0.65636,
+    0.38061,
+    0.63152,
+    -0.66894,
+    1.04647,
+    0.97809
+   ],
+   [
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+    0.74827,
+    0.73899,
+    0.5301,
+    0.00328,
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+    0.0,
+    0.43853,
+    0.6854,
+    0.37132,
+    0.68211,
+    -0.67185,
+    1.03403,
+    0.97158
+   ],
+   [
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+    0.80629,
+    0.74849,
+    0.56568,
+    0.00459,
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+    0.69176,
+    0.36059,
+    0.7631,
+    -0.67036,
+    1.02479,
+    0.96283
+   ],
+   [
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+    0.82965,
+    0.75617,
+    0.64652,
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+    0.69031,
+    0.34074,
+    0.78973,
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+    1.01559,
+    0.96058
+   ],
+   [
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+    0.80367,
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+    1.0155,
+    0.96056
+   ],
+   [
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+    0.66279,
+    0.31615,
+    0.83721,
+    -0.61522,
+    1.00486,
+    0.96489
+   ],
+   [
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+    0.90333,
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+    0.63686,
+    0.30841,
+    0.86033,
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+    0.99413,
+    0.96494
+   ],
+   [
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+    -1.22412,
+    0.0,
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+    0.62446,
+    0.30529,
+    0.8636,
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+    0.98643,
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+   ],
+   [
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+    0.61066,
+    0.30071,
+    0.86971,
+    -0.59979,
+    0.96509,
+    0.96711
+   ],
+   [
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+    0.59686,
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+    0.87432,
+    -0.59979,
+    0.9588,
+    0.96496
+   ],
+   [
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+    0.56938,
+    0.29913,
+    0.87589,
+    -0.59219,
+    0.95722,
+    0.96711
+   ],
+   [
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+    1.0092,
+    0.84669,
+    0.85269,
+    -0.15636,
+    -1.23174,
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+    0.44179,
+    0.55696,
+    0.29761,
+    0.88198,
+    -0.58908,
+    0.95569,
+    0.96279
+   ],
+   [
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+    1.04125,
+    0.85131,
+    0.88023,
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+    0.54469,
+    0.29759,
+    0.88659,
+    -0.58905,
+    0.95567,
+    0.95841
+   ],
+   [
+    -0.98759,
+    1.05372,
+    0.85895,
+    0.91391,
+    -0.18698,
+    -1.23331,
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+    0.44179,
+    0.5233,
+    0.29759,
+    0.8836,
+    -0.5769,
+    0.95567,
+    0.95619
+   ],
+   [
+    -1.00003,
+    1.07207,
+    0.8651,
+    0.9264,
+    -0.19322,
+    -1.23332,
+    0.0,
+    0.44179,
+    0.5155,
+    0.29759,
+    0.88054,
+    -0.5707,
+    0.96023,
+    0.94966
+   ],
+   [
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+    1.1011,
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+    0.94475,
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+    -1.23332,
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+    0.44179,
+    0.50783,
+    0.29455,
+    0.8881,
+    -0.56912,
+    0.96331,
+    0.9496
+   ],
+   [
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+    -1.23484,
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+    0.49408,
+    0.29301,
+    0.90032,
+    -0.56759,
+    0.96638,
+    0.94309
+   ],
+   [
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+    0.29451,
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+   ],
+   [
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+   ],
+   [
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+    0.8085,
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+   [
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+   ],
+   [
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+    0.58008,
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+    0.92967,
+    0.19385
+   ],
+   [
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+    1.12459,
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+    0.93016,
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+    -1.19551,
+    0.0,
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+    0.25924,
+    0.32666,
+    0.58008,
+    -0.28069,
+    0.92967,
+    0.19385
+   ]
+  ],
+  "state_t": [
+   -0.26532,
+   0.48734,
+   0.40074,
+   0.21038,
+   0.02346,
+   -1.12707,
+   0.00771,
+   0.18978,
+   0.51404,
+   0.49992,
+   0.05703,
+   -0.83104,
+   1.00309,
+   0.98524
+  ],
+  "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 -4.1 cm forward, -4.0 cm to the robot's left and +9.3 cm up from where it is now (path length 17.4 cm); in the top camera that is +40 px right and -7 px down. Gripper command: now 0.98 open; starts closing at +0.20 s and is shut (0.19) at +1.57 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4491,
+    -0.1444,
+    1.0584
+   ],
+   "grasp_site_now_uv": [
+    408.2,
+    245.9
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4082,
+    -0.1843,
+    1.1512
+   ],
+   "grasp_site_at_shut_uv": [
+    448.0,
+    239.3
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 6,
+   "close_done_frame": 47,
+   "path_len_cm": 17.4,
+   "path_uv_every_3_frames": [
+    [
+     405.3,
+     237.5
+    ],
+    [
+     394.1,
+     238.9
+    ],
+    [
+     386.9,
+     240.5
+    ],
+    [
+     392.8,
+     239.0
+    ],
+    [
+     399.8,
+     241.2
+    ],
+    [
+     406.1,
+     244.3
+    ],
+    [
+     412.4,
+     246.3
+    ],
+    [
+     417.1,
+     248.3
+    ],
+    [
+     420.9,
+     247.9
+    ],
+    [
+     427.9,
+     247.9
+    ],
+    [
+     435.3,
+     247.6
+    ],
+    [
+     439.8,
+     245.9
+    ],
+    [
+     441.8,
+     244.3
+    ],
+    [
+     443.7,
+     244.2
+    ],
+    [
+     447.8,
+     242.1
+    ],
+    [
+     448.4,
+     239.9
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ],
+    [
+     448.0,
+     239.3
+    ]
+   ],
+   "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/s0057_3c8d02d9_r_1525/sample.json b/public/samples/s0057_3c8d02d9_r_1525/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc996bfff60c3152f8bb5db0a5ab2bef9cc002a
--- /dev/null
+++ b/public/samples/s0057_3c8d02d9_r_1525/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0057_3c8d02d9_r_1525",
+ "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": 10,
+  "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": [
+   [
+    -0.54763,
+    0.55239,
+    0.59058,
+    -0.36647,
+    -0.1686,
+    -0.84676,
+    1.0,
+    0.98021,
+    1.6486,
+    1.26078,
+    -0.19162,
+    0.1638,
+    -0.00786,
+    1.0
+   ],
+   [
+    -0.54763,
+    0.53249,
+    0.59058,
+    -0.38181,
+    -0.17785,
+    -0.85739,
+    1.0,
+    0.98021,
+    1.69155,
+    1.28827,
+    -0.2039,
+    0.16413,
+    0.00144,
+    1.0
+   ],
+   [
+    -0.54763,
+    0.53229,
+    0.59969,
+    -0.4017,
+    -0.17794,
+    -0.85749,
+    1.0,
+    0.98021,
+    1.7755,
+    1.29917,
+    -0.21313,
+    0.17629,
+    0.03039,
+    0.97274
+   ],
+   [
+    -0.54763,
+    0.52166,
+    0.61193,
+    -0.41101,
+    -0.19009,
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+    1.0,
+    0.98021,
+    1.81583,
+    1.31143,
+    -0.21322,
+    0.19919,
+    0.05042,
+    0.87317
+   ],
+   [
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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 +6.6 cm forward, +1.8 cm to the robot's left and -4.4 cm up from where it is now (path length 17.4 cm); in the top camera that is -6 px right and -16 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.00) at +0.33 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5266,
+    0.0732,
+    1.0033
+   ],
+   "grasp_site_now_uv": [
+    284.4,
+    223.2
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5922,
+    0.0916,
+    0.9593
+   ],
+   "grasp_site_at_shut_uv": [
+    278.6,
+    207.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 10,
+   "path_len_cm": 17.4,
+   "path_uv_every_3_frames": [
+    [
+     281.6,
+     225.5
+    ],
+    [
+     279.4,
+     235.0
+    ],
+    [
+     279.9,
+     231.2
+    ],
+    [
+     279.7,
+     212.2
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ],
+    [
+     278.6,
+     207.7
+    ]
+   ],
+   "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/s0058_76d3a792_r_3251/right_t-15.jpg b/public/samples/s0058_76d3a792_r_3251/right_t-15.jpg
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diff --git a/public/samples/s0058_76d3a792_r_3251/right_t.jpg b/public/samples/s0058_76d3a792_r_3251/right_t.jpg
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diff --git a/public/samples/s0058_76d3a792_r_3251/sample.json b/public/samples/s0058_76d3a792_r_3251/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a11c488efce7104356a8b17af618a1f1dd71fa
--- /dev/null
+++ b/public/samples/s0058_76d3a792_r_3251/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0058_76d3a792_r_3251",
+ "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": 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",
+  "actions": [
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+    1.74259,
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+    0.07747
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+   [
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+    0.26691,
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+   ],
+   [
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+    0.26691,
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+    0.07747
+   ],
+   [
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+    1.3742,
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+    0.26691,
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+   ],
+   [
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+    0.07747
+   ],
+   [
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+    1.3742,
+    0.04771,
+    0.26691,
+    0.0906,
+    0.07747
+   ],
+   [
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+    0.95872,
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+    0.34361,
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+    0.97809,
+    0.04749,
+    1.74259,
+    1.3742,
+    0.04771,
+    0.26691,
+    0.0906,
+    0.07747
+   ],
+   [
+    -1.04771,
+    0.95872,
+    0.49546,
+    0.34361,
+    -0.51694,
+    -0.23623,
+    0.97809,
+    0.04749,
+    1.74259,
+    1.3742,
+    0.04771,
+    0.26691,
+    0.0906,
+    0.07747
+   ]
+  ],
+  "state_t": [
+   -1.04849,
+   0.96227,
+   0.49611,
+   0.33131,
+   -0.51404,
+   -0.24434,
+   0.9792,
+   -0.28439,
+   1.69051,
+   1.16903,
+   0.23365,
+   -0.49115,
+   0.58423,
+   0.54225
+  ],
+  "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 +3.2 cm forward, +4.7 cm to the robot's left and +2.4 cm up from where it is now (path length 13.4 cm); in the top camera that is -20 px right and -19 px down. Gripper command: now 0.56 open; starts closing at +1.23 s and is shut (0.08) at +1.87 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.7631,
+    -0.3757,
+    0.9925
+   ],
+   "grasp_site_now_uv": [
+    480.3,
+    137.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.7952,
+    -0.3291,
+    1.0168
+   ],
+   "grasp_site_at_shut_uv": [
+    460.0,
+    119.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 37,
+   "close_done_frame": 56,
+   "path_len_cm": 13.4,
+   "path_uv_every_3_frames": [
+    [
+     485.4,
+     124.9
+    ],
+    [
+     486.7,
+     123.8
+    ],
+    [
+     485.9,
+     124.0
+    ],
+    [
+     484.3,
+     124.4
+    ],
+    [
+     483.3,
+     124.3
+    ],
+    [
+     481.3,
+     125.0
+    ],
+    [
+     478.6,
+     124.8
+    ],
+    [
+     478.4,
+     124.9
+    ],
+    [
+     476.2,
+     124.9
+    ],
+    [
+     473.4,
+     125.5
+    ],
+    [
+     471.1,
+     126.4
+    ],
+    [
+     467.6,
+     126.9
+    ],
+    [
+     467.0,
+     128.6
+    ],
+    [
+     467.5,
+     131.6
+    ],
+    [
+     468.8,
+     132.7
+    ],
+    [
+     468.0,
+     133.4
+    ],
+    [
+     467.1,
+     132.8
+    ],
+    [
+     462.0,
+     128.3
+    ],
+    [
+     460.5,
+     125.5
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ],
+    [
+     460.0,
+     119.1
+    ]
+   ],
+   "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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new file mode 100644
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diff --git a/public/samples/s0059_5cc31652_r_1884/sample.json b/public/samples/s0059_5cc31652_r_1884/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc1afcb4858ab723165f12ef122259fe92ea706
--- /dev/null
+++ b/public/samples/s0059_5cc31652_r_1884/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0059_5cc31652_r_1884",
+ "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": 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",
+  "actions": [
+   [
+    -0.25001,
+    1.30725,
+    1.28648,
+    0.10499,
+    0.80193,
+    -0.54503,
+    0.0,
+    0.36661,
+    0.69031,
+    0.73941,
+    -0.22168,
+    -0.59179,
+    0.62095,
+    0.98906
+   ],
+   [
+    -0.25004,
+    1.25836,
+    1.23689,
+    0.27744,
+    0.83416,
+    -0.60228,
+    0.0,
+    0.3651,
+    0.68877,
+    0.73482,
+    -0.17686,
+    -0.6316,
+    0.64404,
+    0.98904
+   ],
+   [
+    -0.25308,
+    1.23661,
+    1.19235,
+    0.38092,
+    0.89371,
+    -0.65904,
+    0.0,
+    0.36661,
+    0.68876,
+    0.72415,
+    -0.12326,
+    -0.69882,
+    0.66553,
+    0.98904
+   ],
+   [
+    -0.25463,
+    1.21817,
+    1.09927,
+    0.47914,
+    0.90645,
+    -0.78413,
+    0.0,
+    0.3651,
+    0.69483,
+    0.71948,
+    -0.01794,
+    -0.73138,
+    0.71586,
+    0.98904
+   ],
+   [
+    -0.26072,
+    1.20431,
+    1.06037,
+    0.63199,
+    0.91114,
+    -0.83854,
+    0.0,
+    0.36509,
+    0.70097,
+    0.71336,
+    0.04386,
+    -0.76512,
+    0.74674,
+    0.98904
+   ],
+   [
+    -0.26685,
+    1.18595,
+    1.03113,
+    0.68971,
+    0.90967,
+    -0.8816,
+    0.0,
+    0.36661,
+    0.71014,
+    0.69812,
+    0.10674,
+    -0.80038,
+    0.7759,
+    0.98904
+   ],
+   [
+    -0.27602,
+    1.17818,
+    0.98528,
+    0.75711,
+    0.90509,
+    -0.95189,
+    0.0,
+    0.36662,
+    0.73605,
+    0.68885,
+    0.22886,
+    -0.85389,
+    0.83997,
+    0.9847
+   ],
+   [
+    -0.28219,
+    1.16899,
+    0.96356,
+    0.78815,
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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 -0.0 cm forward, +11.1 cm to the robot's left and +15.4 cm up from where it is now (path length 18.6 cm); in the top camera that is -56 px right and -49 px down. Gripper command: now 0.99 open; starts closing at +0.13 s and is shut (0.00) at +1.93 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
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+    -0.1481,
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+   "grasp_site_at_shut_uv": [
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+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 58,
+   "path_len_cm": 18.6,
+   "path_uv_every_3_frames": [
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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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new file mode 100644
index 0000000000000000000000000000000000000000..80ec76285e1d7309f8acfabc6ac37c8fb9771189
--- /dev/null
+++ b/public/samples/s0060_4e3753ec_r_1761/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0060_4e3753ec_r_1761",
+ "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": 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",
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+    0.22744,
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+    1.53602,
+    1.06785,
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+   [
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+    1.27194,
+    0.45576,
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+    1.53602,
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+    0.22744,
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+    0.69478,
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+   [
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+    1.04109,
+    1.27194,
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+    1.53602,
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+   [
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+    0.69478,
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+   [
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+    1.27194,
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+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
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+   [
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+    1.70568,
+    1.04109,
+    1.27194,
+    0.45576,
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+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ],
+   [
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+    1.70568,
+    1.04109,
+    1.27194,
+    0.45576,
+    -1.48007,
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+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ],
+   [
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+    1.70568,
+    1.04109,
+    1.27194,
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+    -1.48007,
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+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ],
+   [
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+    1.70568,
+    1.04109,
+    1.27194,
+    0.45576,
+    -1.48007,
+    0.0,
+    0.81774,
+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ],
+   [
+    -0.80691,
+    1.70568,
+    1.04109,
+    1.27194,
+    0.45576,
+    -1.48007,
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+    0.81774,
+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ],
+   [
+    -0.80691,
+    1.70568,
+    1.04109,
+    1.27194,
+    0.45576,
+    -1.48007,
+    0.0,
+    0.81774,
+    1.53602,
+    1.06785,
+    0.22744,
+    -0.21936,
+    0.69478,
+    0.0
+   ]
+  ],
+  "state_t": [
+   -0.696,
+   1.72866,
+   1.0008,
+   1.23732,
+   0.45033,
+   -1.38113,
+   0.08864,
+   0.80854,
+   1.53182,
+   1.03704,
+   0.29507,
+   -0.53883,
+   0.81579,
+   0.59554
+  ],
+  "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, -1.7 cm to the robot's left and -0.7 cm up from where it is now (path length 8.3 cm); in the top camera that is +8 px right and -14 px down. Gripper command: now 0.59 open; starts closing at +0.17 s and is shut (0.00) at +0.60 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5135,
+    0.0897,
+    1.0206
+   ],
+   "grasp_site_now_uv": [
+    286.2,
+    224.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5603,
+    0.0725,
+    1.0136
+   ],
+   "grasp_site_at_shut_uv": [
+    294.3,
+    209.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 5,
+   "close_done_frame": 18,
+   "path_len_cm": 8.3,
+   "path_uv_every_3_frames": [
+    [
+     289.8,
+     214.8
+    ],
+    [
+     286.3,
+     213.0
+    ],
+    [
+     280.1,
+     212.4
+    ],
+    [
+     276.8,
+     213.1
+    ],
+    [
+     279.3,
+     214.0
+    ],
+    [
+     285.3,
+     211.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ],
+    [
+     294.3,
+     209.9
+    ]
+   ],
+   "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/s0061_8163928a_l_102/sample.json b/public/samples/s0061_8163928a_l_102/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..352e8728a0d6477e1559afc7dd07ebbc2c5a0e79
--- /dev/null
+++ b/public/samples/s0061_8163928a_l_102/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0061_8163928a_l_102",
+ "task": "place_the_food_in_the_zip_top_bag_and_seal_the_zipper",
+ "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": 72,
+  "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": [
+   [
+    -0.42662,
+    1.6136,
+    0.97465,
+    -0.27212,
+    -0.00019,
+    -0.68646,
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+    0.72557,
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+    0.30763,
+    0.21936,
+    0.99123
+   ],
+   [
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+    1.59686,
+    0.98834,
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+    0.12443,
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+    0.30685,
+    0.21859,
+    0.99123
+   ],
+   [
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+    1.57329,
+    0.99599,
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+    0.95398,
+    0.16671,
+    0.12351,
+    0.72576,
+    -0.50463,
+    0.30795,
+    0.21792,
+    0.99123
+   ],
+   [
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+    1.5504,
+    1.0004,
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+    0.12205,
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+    0.21669,
+    0.99123
+   ],
+   [
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+    0.16853,
+    0.12053,
+    0.72558,
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+    0.3089,
+    0.2167,
+    0.99123
+   ],
+   [
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+    1.00042,
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+   [
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+    0.94773,
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+    0.11818,
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+   ],
+   [
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+    1.46199,
+    0.99127,
+    -0.55835,
+    -0.26603,
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+    0.94389,
+    0.16973,
+    0.11678,
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+    0.30838,
+    0.21782,
+    0.99123
+   ],
+   [
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+    1.44483,
+    0.98505,
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+    -0.54441,
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+    0.11661,
+    0.72536,
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+    0.30795,
+    0.21706,
+    0.99123
+   ],
+   [
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+    1.42965,
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+    0.11582,
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+    0.30828,
+    0.21773,
+    0.99123
+   ],
+   [
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+    1.42085,
+    0.97792,
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+    0.11553,
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+    -0.50044,
+    0.30832,
+    0.21781,
+    0.99123
+   ],
+   [
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+    1.41706,
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+    0.11377,
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+    -0.50012,
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+    0.21878,
+    0.99123
+   ],
+   [
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+    1.41191,
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+    0.1124,
+    0.72404,
+    -0.50008,
+    0.30795,
+    0.21871,
+    0.99123
+   ],
+   [
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+    0.11069,
+    0.72404,
+    -0.49969,
+    0.30752,
+    0.21928,
+    0.99014
+   ],
+   [
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+    1.41242,
+    0.96233,
+    -0.70492,
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+    0.90752,
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+  "state_layout": "measured 14-D state at t, same column layout as actions",
+  "plan": {
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+    0.1477,
+    0.8111
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+   "grasp_site_at_shut_uv": [
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+   "shut_in_top_view": true,
+   "close_onset_frame": 4,
+   "close_done_frame": 72,
+   "path_len_cm": 25.4,
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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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+{
+ "id": "s0062_cdb591e1_l_2315",
+ "task": "place_and_organize_the_beverage_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",
+   "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": 21,
+  "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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+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    1.28086,
+    -0.74397,
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+    0.69176,
+    0.60902,
+    0.02727,
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+   [
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+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
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+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
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+    0.69176,
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+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
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+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
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+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    -0.49854,
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+    0.46633,
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+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
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+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ],
+   [
+    -1.01401,
+    1.52481,
+    1.28086,
+    -0.74397,
+    -0.49854,
+    -0.65656,
+    0.46633,
+    0.23315,
+    0.69176,
+    0.60902,
+    0.02727,
+    -0.35872,
+    0.3559,
+    0.99781
+   ]
+  ],
+  "state_t": [
+   -1.03857,
+   1.37198,
+   1.27394,
+   -0.82914,
+   -0.42782,
+   -0.6529,
+   0.99494,
+   0.22641,
+   0.72004,
+   0.68494,
+   -0.03643,
+   -0.01202,
+   0.32292,
+   0.997
+  ],
+  "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 +3.1 cm forward, -1.2 cm to the robot's left and -3.5 cm up from where it is now (path length 5.6 cm); in the top camera that is +7 px right and -5 px down. Gripper command: now 0.99 open; starts closing at +0.03 s and is shut (0.47) at +0.70 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4933,
+    0.0401,
+    0.9756
+   ],
+   "grasp_site_now_uv": [
+    404.8,
+    246.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5239,
+    0.0278,
+    0.9403
+   ],
+   "grasp_site_at_shut_uv": [
+    411.9,
+    241.9
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 1,
+   "close_done_frame": 21,
+   "path_len_cm": 5.6,
+   "path_uv_every_3_frames": [
+    [
+     409.9,
+     240.6
+    ],
+    [
+     411.3,
+     241.8
+    ],
+    [
+     412.5,
+     242.7
+    ],
+    [
+     414.8,
+     243.1
+    ],
+    [
+     415.1,
+     243.6
+    ],
+    [
+     414.7,
+     243.1
+    ],
+    [
+     414.2,
+     243.0
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ],
+    [
+     411.9,
+     241.9
+    ]
+   ],
+   "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/s0063_fad08c73_r_915/sample.json b/public/samples/s0063_fad08c73_r_915/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbfcc7d8407241efd0e6b038f8f69bec047a58c5
--- /dev/null
+++ b/public/samples/s0063_fad08c73_r_915/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0063_fad08c73_r_915",
+ "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": 40,
+  "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": [
+   [
+    -0.57218,
+    1.24188,
+    0.6906,
+    0.78146,
+    0.5971,
+    -1.36069,
+    0.02264,
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+    1.47393,
+    1.07821,
+    -0.32452,
+    -1.09652,
+    0.62405,
+    0.78209
+   ],
+   [
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+    1.24455,
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+    0.78241,
+    0.60079,
+    -1.36141,
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+    1.47068,
+    1.05996,
+    -0.29962,
+    -1.11479,
+    0.64961,
+    0.77718
+   ],
+   [
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+    1.24738,
+    0.69324,
+    0.78905,
+    0.60509,
+    -1.36457,
+    0.02264,
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+    1.46912,
+    1.05346,
+    -0.29765,
+    -1.11323,
+    0.6551,
+    0.77766
+   ],
+   [
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+    1.46912,
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+    0.6551,
+    0.77766
+   ],
+   [
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+    0.80182,
+    0.61593,
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+    0.02264,
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+    1.4688,
+    1.05741,
+    -0.32779,
+    -1.10669,
+    0.63946,
+    0.77653
+   ],
+   [
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+    1.25835,
+    0.69959,
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+    1.46697,
+    1.0564,
+    -0.33166,
+    -1.10398,
+    0.63868,
+    0.77648
+   ],
+   [
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+    1.25835,
+    0.69959,
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+    0.61772,
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+    0.02264,
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+    1.46697,
+    1.0564,
+    -0.33166,
+    -1.10398,
+    0.63868,
+    0.77648
+   ],
+   [
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+    1.26253,
+    0.70449,
+    0.80344,
+    0.62063,
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+    1.46309,
+    1.05263,
+    -0.331,
+    -1.10766,
+    0.63897,
+    0.77648
+   ],
+   [
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+    1.26593,
+    0.70971,
+    0.80357,
+    0.62387,
+    -1.36866,
+    0.02264,
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+    1.46012,
+    1.04909,
+    -0.33053,
+    -1.11023,
+    0.64265,
+    0.76579
+   ],
+   [
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+    1.27625,
+    0.72171,
+    0.80816,
+    0.63386,
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+    0.02257,
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+    1.4562,
+    1.03973,
+    -0.32768,
+    -1.11527,
+    0.65237,
+    0.74799
+   ],
+   [
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+    1.28221,
+    0.72566,
+    0.81068,
+    0.63799,
+    -1.36874,
+    0.02263,
+    -0.01335,
+    1.45389,
+    1.03751,
+    -0.32801,
+    -1.11828,
+    0.65449,
+    0.73977
+   ],
+   [
+    -0.5543,
+    1.28221,
+    0.72566,
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+    0.63799,
+    -1.36874,
+    0.02263,
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+    1.45389,
+    1.03751,
+    -0.32801,
+    -1.11828,
+    0.65449,
+    0.73977
+   ],
+   [
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+    1.29168,
+    0.73612,
+    0.81223,
+    0.64324,
+    -1.3664,
+    0.02264,
+    0.0024,
+    1.45184,
+    1.03878,
+    -0.33726,
+    -1.11966,
+    0.65517,
+    0.72862
+   ],
+   [
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+    1.29756,
+    0.73974,
+    0.81445,
+    0.64759,
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+    1.45583,
+    1.04353,
+    -0.35835,
+    -1.12497,
+    0.64295,
+    0.7253
+   ],
+   [
+    -0.55435,
+    1.29756,
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+    0.81445,
+    0.64759,
+    -1.36539,
+    0.02264,
+    0.00644,
+    1.45583,
+    1.04353,
+    -0.35835,
+    -1.12497,
+    0.64295,
+    0.7253
+   ],
+   [
+    -0.55518,
+    1.30348,
+    0.74487,
+    0.81933,
+    0.65082,
+    -1.36603,
+    0.02264,
+    0.0097,
+    1.45748,
+    1.04297,
+    -0.37191,
+    -1.11984,
+    0.63989,
+    0.71438
+   ],
+   [
+    -0.55471,
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+   ],
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+    1.4499,
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+    0.67042,
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+   ],
+   [
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+    1.4499,
+    0.99186,
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+    -1.14856,
+    0.67042,
+    0.01432
+   ],
+   [
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+    1.39216,
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+    0.74953,
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+    -1.29506,
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+    0.99186,
+    -0.33797,
+    -1.14856,
+    0.67042,
+    0.01432
+   ]
+  ],
+  "state_t": [
+   -0.60178,
+   1.30865,
+   0.62085,
+   0.50221,
+   0.50603,
+   -1.3426,
+   0.04532,
+   -0.0639,
+   1.47955,
+   1.13661,
+   -0.45262,
+   -0.96304,
+   0.54913,
+   0.79351
+  ],
+  "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, +5.4 cm to the robot's left and -1.0 cm up from where it is now (path length 6.6 cm); in the top camera that is -22 px right and +19 px down. Gripper command: now 0.78 open; starts closing at +0.00 s and is shut (0.01) at +1.33 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.6272,
+    -0.1941,
+    0.9788
+   ],
+   "grasp_site_now_uv": [
+    403.9,
+    192.2
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5804,
+    -0.1406,
+    0.9689
+   ],
+   "grasp_site_at_shut_uv": [
+    381.7,
+    211.5
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 40,
+   "path_len_cm": 6.6,
+   "path_uv_every_3_frames": [
+    [
+     399.8,
+     192.7
+    ],
+    [
+     397.9,
+     194.9
+    ],
+    [
+     396.1,
+     197.0
+    ],
+    [
+     392.5,
+     200.0
+    ],
+    [
+     388.8,
+     201.9
+    ],
+    [
+     387.5,
+     204.2
+    ],
+    [
+     386.8,
+     206.8
+    ],
+    [
+     386.2,
+     208.0
+    ],
+    [
+     385.0,
+     208.9
+    ],
+    [
+     383.7,
+     209.8
+    ],
+    [
+     383.3,
+     210.2
+    ],
+    [
+     382.8,
+     210.4
+    ],
+    [
+     382.2,
+     211.2
+    ],
+    [
+     381.7,
+     211.9
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ],
+    [
+     381.7,
+     211.5
+    ]
+   ],
+   "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/s0063_fad08c73_r_915/top_t-30.jpg b/public/samples/s0063_fad08c73_r_915/top_t-30.jpg
new file mode 100644
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+{
+ "id": "s0064_efac528c_l_2781",
+ "task": "place_the_coffee_filter_in_the_dripper",
+ "side": "left",
+ "fps": 30,
+ "inputs": {
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+   30
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+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ],
+   [
+    -0.9689,
+    0.93039,
+    0.80106,
+    -0.26425,
+    0.04333,
+    -0.43512,
+    0.56772,
+    0.84908,
+    1.61212,
+    1.87452,
+    -1.31676,
+    0.03391,
+    0.48934,
+    0.41366
+   ]
+  ],
+  "state_t": [
+   -0.83295,
+   0.62428,
+   0.6136,
+   -0.29164,
+   0.19627,
+   -0.53769,
+   0.99706,
+   0.84897,
+   1.68441,
+   1.94114,
+   -1.43378,
+   -0.05779,
+   0.46788,
+   0.06532
+  ],
+  "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 +2.1 cm forward, -5.2 cm to the robot's left and +0.6 cm up from where it is now (path length 11.2 cm); in the top camera that is +27 px right and -11 px down. Gripper command: now 1.00 open; starts closing at +0.00 s and is shut (0.57) at +1.37 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4172,
+    0.0796,
+    1.004
+   ],
+   "grasp_site_now_uv": [
+    285.8,
+    275.5
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4379,
+    0.0271,
+    1.0101
+   ],
+   "grasp_site_at_shut_uv": [
+    312.6,
+    264.7
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 0,
+   "close_done_frame": 41,
+   "path_len_cm": 11.2,
+   "path_uv_every_3_frames": [
+    [
+     288.8,
+     268.8
+    ],
+    [
+     292.0,
+     266.6
+    ],
+    [
+     297.2,
+     265.6
+    ],
+    [
+     303.0,
+     265.3
+    ],
+    [
+     308.7,
+     266.2
+    ],
+    [
+     313.3,
+     267.2
+    ],
+    [
+     317.5,
+     268.4
+    ],
+    [
+     320.4,
+     269.0
+    ],
+    [
+     320.6,
+     268.4
+    ],
+    [
+     319.3,
+     267.2
+    ],
+    [
+     318.4,
+     266.0
+    ],
+    [
+     317.6,
+     265.2
+    ],
+    [
+     316.1,
+     265.0
+    ],
+    [
+     313.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ],
+    [
+     312.6,
+     264.7
+    ]
+   ],
+   "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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new file mode 100644
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diff --git a/public/samples/s0065_087a6033_r_232/right_t-15.jpg b/public/samples/s0065_087a6033_r_232/right_t-15.jpg
new file mode 100644
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diff --git a/public/samples/s0065_087a6033_r_232/right_t.jpg b/public/samples/s0065_087a6033_r_232/right_t.jpg
new file mode 100644
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Binary files /dev/null and b/public/samples/s0065_087a6033_r_232/right_t.jpg differ
diff --git a/public/samples/s0065_087a6033_r_232/sample.json b/public/samples/s0065_087a6033_r_232/sample.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5501ab06a8dc18d4018333cd0ec1017ad37780
--- /dev/null
+++ b/public/samples/s0065_087a6033_r_232/sample.json
@@ -0,0 +1,2154 @@
+{
+ "id": "s0065_087a6033_r_232",
+ "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": 98,
+  "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": [
+   [
+    0.74858,
+    1.46313,
+    0.93995,
+    -0.68328,
+    0.23531,
+    -0.4164,
+    0.99216,
+    0.93254,
+    1.61911,
+    1.3799,
+    -0.50323,
+    -0.52784,
+    0.44998,
+    0.7196
+   ],
+   [
+    0.74858,
+    1.4513,
+    0.95236,
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+    0.22289,
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+    1.6311,
+    1.38299,
+    -0.49779,
+    -0.54765,
+    0.44818,
+    0.72034
+   ],
+   [
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+    1.44081,
+    0.96715,
+    -0.69958,
+    0.21156,
+    -0.41723,
+    0.99241,
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+    1.64468,
+    1.38376,
+    -0.4879,
+    -0.56815,
+    0.44834,
+    0.71632
+   ],
+   [
+    0.74782,
+    1.42799,
+    0.98184,
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+    0.20324,
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+    0.99138,
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+    1.6621,
+    1.38807,
+    -0.47305,
+    -0.58433,
+    0.44797,
+    0.7128
+   ],
+   [
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+    1.6823,
+    1.39763,
+    -0.46142,
+    -0.59114,
+    0.44908,
+    0.71099
+   ],
+   [
+    0.74857,
+    1.40544,
+    1.01195,
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+    0.19432,
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+    0.99247,
+    0.96105,
+    1.70841,
+    1.41608,
+    -0.45421,
+    -0.59161,
+    0.4473,
+    0.70721
+   ],
+   [
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+    0.19571,
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+    0.99194,
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+    1.74044,
+    1.44619,
+    -0.45483,
+    -0.59378,
+    0.44113,
+    0.70673
+   ],
+   [
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+    1.03749,
+    -0.73091,
+    0.2058,
+    -0.43977,
+    0.9916,
+    0.99247,
+    1.77186,
+    1.47756,
+    -0.45857,
+    -0.59309,
+    0.43494,
+    0.7064
+   ],
+   [
+    0.74736,
+    1.36364,
+    1.04777,
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+    0.21345,
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+    0.99238,
+    1.00437,
+    1.80973,
+    1.51677,
+    -0.4644,
+    -0.59435,
+    0.43499,
+    0.70745
+   ],
+   [
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+    1.34855,
+    1.05337,
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+    0.21824,
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+    0.99192,
+    1.01295,
+    1.84514,
+    1.55292,
+    -0.46494,
+    -0.5993,
+    0.43959,
+    0.70348
+   ],
+   [
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+    1.33535,
+    1.05225,
+    -0.72571,
+    0.22037,
+    -0.45406,
+    0.99159,
+    1.01805,
+    1.88216,
+    1.57431,
+    -0.4629,
+    -0.60567,
+    0.4511,
+    0.6986
+   ],
+   [
+    0.7478,
+    1.32565,
+    1.04636,
+    -0.72367,
+    0.22351,
+    -0.45924,
+    0.99155,
+    1.0185,
+    1.91632,
+    1.6138,
+    -0.45516,
+    -0.61299,
+    0.46481,
+    0.6958
+   ],
+   [
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+    1.31619,
+    1.03584,
+    -0.71862,
+    0.23196,
+    -0.46084,
+    0.99292,
+    1.01875,
+    1.94283,
+    1.63025,
+    -0.43176,
+    -0.6256,
+    0.48493,
+    0.69545
+   ],
+   [
+    0.74581,
+    1.30772,
+    1.02456,
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+    0.23742,
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+    0.99227,
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+    1.97184,
+    1.64584,
+    -0.40928,
+    -0.63542,
+    0.50394,
+    0.69348
+   ],
+   [
+    0.74689,
+    1.29823,
+    1.01356,
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+    0.24539,
+    -0.47085,
+    0.99136,
+    1.01895,
+    2.00193,
+    1.66014,
+    -0.38173,
+    -0.65486,
+    0.52894,
+    0.69132
+   ],
+   [
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+    1.28726,
+    1.00394,
+    -0.708,
+    0.25905,
+    -0.47399,
+    0.99235,
+    1.01938,
+    2.03215,
+    1.67362,
+    -0.34838,
+    -0.67647,
+    0.55795,
+    0.68502
+   ],
+   [
+    0.7458,
+    1.27496,
+    0.9966,
+    -0.70727,
+    0.26976,
+    -0.48186,
+    0.99247,
+    1.02269,
+    2.06354,
+    1.69007,
+    -0.32254,
+    -0.6878,
+    0.58401,
+    0.67246
+   ],
+   [
+    0.74229,
+    1.255,
+    0.98993,
+    -0.70775,
+    0.28088,
+    -0.4909,
+    0.99254,
+    1.02848,
+    2.09995,
+    1.70516,
+    -0.29381,
+    -0.69627,
+    0.6097,
+    0.6589
+   ],
+   [
+    0.73917,
+    1.23967,
+    0.98584,
+    -0.70647,
+    0.29244,
+    -0.49682,
+    0.9914,
+    1.03476,
+    2.12916,
+    1.72297,
+    -0.27123,
+    -0.69794,
+    0.62576,
+    0.65276
+   ],
+   [
+    0.7317,
+    1.22453,
+    0.9813,
+    -0.70708,
+    0.29887,
+    -0.50657,
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+   ],
+   [
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+    0.76048,
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+   ],
+   [
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+    0.76048,
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+   ],
+   [
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+    2.14353,
+    -0.31972,
+    -0.64331,
+    0.76048,
+    0.01387
+   ]
+  ],
+  "state_t": [
+   0.74559,
+   1.49863,
+   0.92222,
+   -0.62848,
+   0.25425,
+   -0.41028,
+   0.99154,
+   0.93175,
+   1.58675,
+   1.36397,
+   -0.49039,
+   -0.46025,
+   0.46712,
+   0.71761
+  ],
+  "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 +1.2 cm forward, +21.1 cm to the robot's left and -14.9 cm up from where it is now (path length 32.5 cm); in the top camera that is -80 px right and +24 px down. Gripper command: now 0.72 open; starts closing at +0.07 s and is shut (0.01) at +3.27 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.4588,
+    0.0943,
+    0.9843
+   ],
+   "grasp_site_now_uv": [
+    274.0,
+    256.1
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.4707,
+    0.3057,
+    0.8357
+   ],
+   "grasp_site_at_shut_uv": [
+    193.6,
+    279.8
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 2,
+   "close_done_frame": 98,
+   "path_len_cm": 32.5,
+   "path_uv_every_3_frames": [
+    [
+     271.0,
+     260.9
+    ],
+    [
+     265.8,
+     264.4
+    ],
+    [
+     254.5,
+     269.0
+    ],
+    [
+     241.4,
+     271.7
+    ],
+    [
+     231.5,
+     270.7
+    ],
+    [
+     222.7,
+     270.8
+    ],
+    [
+     213.7,
+     273.9
+    ],
+    [
+     207.6,
+     275.3
+    ],
+    [
+     203.4,
+     274.5
+    ],
+    [
+     200.5,
+     273.4
+    ],
+    [
+     196.7,
+     271.7
+    ],
+    [
+     194.3,
+     270.5
+    ],
+    [
+     194.6,
+     271.3
+    ],
+    [
+     195.9,
+     272.6
+    ],
+    [
+     196.1,
+     273.0
+    ],
+    [
+     196.3,
+     273.3
+    ],
+    [
+     195.8,
+     274.5
+    ],
+    [
+     194.6,
+     276.4
+    ],
+    [
+     193.6,
+     278.4
+    ],
+    [
+     193.1,
+     279.9
+    ],
+    [
+     193.5,
+     280.4
+    ],
+    [
+     193.5,
+     281.6
+    ],
+    [
+     193.4,
+     282.3
+    ],
+    [
+     193.9,
+     282.9
+    ],
+    [
+     194.0,
+     283.5
+    ],
+    [
+     193.9,
+     283.7
+    ],
+    [
+     193.5,
+     283.5
+    ],
+    [
+     193.3,
+     283.5
+    ],
+    [
+     193.1,
+     283.6
+    ],
+    [
+     193.3,
+     283.2
+    ],
+    [
+     193.5,
+     283.3
+    ],
+    [
+     193.9,
+     282.6
+    ],
+    [
+     193.6,
+     281.5
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ],
+    [
+     193.6,
+     279.8
+    ]
+   ],
+   "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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+{
+ "id": "s0066_67363e39_r_1449",
+ "task": "sort_the_stationery_into_containers",
+ "side": "right",
+ "fps": 30,
+ "inputs": {
+  "history_frames": [
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+   30
+  ],
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+   "right_t": "right_t.jpg",
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+   "right_t-15": "right_t-15.jpg",
+   "top_t-30": "top_t-30.jpg",
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+   "right_t-30": "right_t-30.jpg"
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+  "freeze_frame": 78,
+  "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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+    1.09219,
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+    0.28532,
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+    0.0,
+    0.46633,
+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
+   ],
+   [
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+    1.09219,
+    0.87273,
+    0.28532,
+    -0.07641,
+    -0.34361,
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+    0.46633,
+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
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+   [
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+    0.28532,
+    -0.07641,
+    -0.34361,
+    0.0,
+    0.46633,
+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
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+   [
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+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
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+   [
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+    0.87273,
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+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
+   ],
+   [
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+    1.09219,
+    0.87273,
+    0.28532,
+    -0.07641,
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+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
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+   [
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+    1.09219,
+    0.87273,
+    0.28532,
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+   [
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+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
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+   [
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+    1.09219,
+    0.87273,
+    0.28532,
+    -0.07641,
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+    0.0,
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+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
+   ],
+   [
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+    1.09219,
+    0.87273,
+    0.28532,
+    -0.07641,
+    -0.34361,
+    0.0,
+    0.46633,
+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
+   ],
+   [
+    -0.91732,
+    1.09219,
+    0.87273,
+    0.28532,
+    -0.07641,
+    -0.34361,
+    0.0,
+    0.46633,
+    1.34684,
+    0.96785,
+    0.49548,
+    -0.80381,
+    0.60899,
+    0.0
+   ]
+  ],
+  "state_t": [
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+   1.97471,
+   1.3674,
+   -0.78222,
+   -0.21,
+   -1.54402,
+   0.11087,
+   0.37823,
+   1.02483,
+   0.97524,
+   -0.09747,
+   -0.17414,
+   0.23213,
+   0.87827
+  ],
+  "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, +12.6 cm to the robot's left and +0.7 cm up from where it is now (path length 22.3 cm); in the top camera that is -71 px right and +10 px down. Gripper command: now 0.88 open; starts closing at +1.43 s and is shut (0.00) at +2.60 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.5849,
+    -0.1462,
+    1.102
+   ],
+   "grasp_site_now_uv": [
+    405.0,
+    166.0
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.5564,
+    -0.02,
+    1.1088
+   ],
+   "grasp_site_at_shut_uv": [
+    334.4,
+    176.1
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 43,
+   "close_done_frame": 78,
+   "path_len_cm": 22.3,
+   "path_uv_every_3_frames": [
+    [
+     408.3,
+     159.5
+    ],
+    [
+     408.3,
+     159.5
+    ],
+    [
+     409.2,
+     158.2
+    ],
+    [
+     407.4,
+     158.8
+    ],
+    [
+     407.5,
+     157.7
+    ],
+    [
+     407.8,
+     157.0
+    ],
+    [
+     409.0,
+     156.0
+    ],
+    [
+     412.2,
+     154.3
+    ],
+    [
+     413.6,
+     151.5
+    ],
+    [
+     410.8,
+     150.6
+    ],
+    [
+     403.8,
+     151.2
+    ],
+    [
+     392.6,
+     155.8
+    ],
+    [
+     386.2,
+     158.0
+    ],
+    [
+     379.2,
+     162.6
+    ],
+    [
+     375.2,
+     162.7
+    ],
+    [
+     369.3,
+     163.1
+    ],
+    [
+     361.5,
+     165.1
+    ],
+    [
+     355.5,
+     168.1
+    ],
+    [
+     350.0,
+     170.7
+    ],
+    [
+     348.4,
+     170.8
+    ],
+    [
+     345.9,
+     172.0
+    ],
+    [
+     344.3,
+     173.2
+    ],
+    [
+     342.1,
+     174.1
+    ],
+    [
+     340.1,
+     175.0
+    ],
+    [
+     338.2,
+     175.7
+    ],
+    [
+     335.4,
+     176.5
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ],
+    [
+     334.4,
+     176.1
+    ]
+   ],
+   "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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+version https://git-lfs.github.com/spec/v1
+oid sha256:5f21ff1753f6e7260f39b6002717109f9644e0757f2193082ecfd86ff3c5092e
+size 100075
diff --git a/public/samples/s0067_ab243717_r_37/sample.json b/public/samples/s0067_ab243717_r_37/sample.json
new file mode 100644
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@@ -0,0 +1,2154 @@
+{
+ "id": "s0067_ab243717_r_37",
+ "task": "fold_and_stack_the_trousers",
+ "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": 13,
+  "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": [
+   [
+    0.20402,
+    1.46954,
+    1.48638,
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+    2.50183,
+    2.19345,
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+    0.90139
+   ],
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+   ],
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+   ],
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+   ],
+   [
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+    0.07523
+   ],
+   [
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+    0.3405,
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+    2.37029,
+    2.24276,
+    -0.25628,
+    0.02457,
+    -0.25466,
+    0.07523
+   ],
+   [
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+    1.49868,
+    1.52476,
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+    2.37029,
+    2.24276,
+    -0.25628,
+    0.02457,
+    -0.25466,
+    0.07523
+   ],
+   [
+    0.20402,
+    1.49868,
+    1.52476,
+    -0.81918,
+    0.3405,
+    0.01074,
+    0.97811,
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+    2.24276,
+    -0.25628,
+    0.02457,
+    -0.25466,
+    0.07523
+   ]
+  ],
+  "state_t": [
+   0.20733,
+   1.5322,
+   1.48337,
+   -0.79824,
+   0.30423,
+   0.01011,
+   0.97904,
+   -0.05398,
+   2.45041,
+   2.11814,
+   -0.28058,
+   -0.07305,
+   -0.15278,
+   0.90259
+  ],
+  "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 +1.2 cm forward, -1.3 cm to the robot's left and +11.6 cm up from where it is now (path length 12.5 cm); in the top camera that is +16 px right and -38 px down. Gripper command: now 0.90 open; starts closing at +0.07 s and is shut (0.08) at +0.43 s; all targets are then held fixed for the rest of the chunk.",
+   "grasp_site_now_xyz_m": [
+    0.926,
+    -0.334,
+    0.869
+   ],
+   "grasp_site_now_uv": [
+    436.7,
+    124.8
+   ],
+   "grasp_site_at_shut_xyz_m": [
+    0.9377,
+    -0.3468,
+    0.985
+   ],
+   "grasp_site_at_shut_uv": [
+    453.1,
+    86.6
+   ],
+   "shut_in_top_view": true,
+   "close_onset_frame": 2,
+   "close_done_frame": 13,
+   "path_len_cm": 12.5,
+   "path_uv_every_3_frames": [
+    [
+     438.2,
+     121.3
+    ],
+    [
+     437.6,
+     121.5
+    ],
+    [
+     438.3,
+     118.2
+    ],
+    [
+     442.1,
+     108.4
+    ],
+    [
+     450.6,
+     91.8
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ],
+    [
+     453.1,
+     86.6
+    ]
+   ],
+   "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/s0067_ab243717_r_37/top_t-30.jpg b/public/samples/s0067_ab243717_r_37/top_t-30.jpg
new file mode 100644
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