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diff --git a/cube1/embedded_circle/path_0002/robot_tcp_poses.csv b/cube1/embedded_circle/path_0002/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6627ab4d0aeb8ef5bd3b55a263c2ec24cc02f99e
--- /dev/null
+++ b/cube1/embedded_circle/path_0002/robot_tcp_poses.csv
@@ -0,0 +1,80 @@
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diff --git a/cube1/embedded_circle/path_0003/robot_tcp_poses.csv b/cube1/embedded_circle/path_0003/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8be8b2eb5d43b3ca6defe341641fe82b2b141c7f
--- /dev/null
+++ b/cube1/embedded_circle/path_0003/robot_tcp_poses.csv
@@ -0,0 +1,104 @@
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diff --git a/cube1/embedded_circle/path_0004/robot_tcp_poses.csv b/cube1/embedded_circle/path_0004/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a9ee9d4e418480f79d0053d289f7dec106132e7
--- /dev/null
+++ b/cube1/embedded_circle/path_0004/robot_tcp_poses.csv
@@ -0,0 +1,104 @@
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diff --git a/cube1/embedded_triangle/path_0001/robot_tcp_poses.csv b/cube1/embedded_triangle/path_0001/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efac36aec6d76a67fd546ac56d36002af58888b6
--- /dev/null
+++ b/cube1/embedded_triangle/path_0001/robot_tcp_poses.csv
@@ -0,0 +1,83 @@
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diff --git a/cube1/embedded_triangle/path_0003/robot_tcp_poses.csv b/cube1/embedded_triangle/path_0003/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f2c0f1110a2700a0fc735e8325743e74eda2b0a
--- /dev/null
+++ b/cube1/embedded_triangle/path_0003/robot_tcp_poses.csv
@@ -0,0 +1,108 @@
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diff --git a/cube1/embedded_triangle/path_0004/robot_tcp_poses.csv b/cube1/embedded_triangle/path_0004/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67a7b6aa153a9a595edc13046e4a9de6273c6ec1
--- /dev/null
+++ b/cube1/embedded_triangle/path_0004/robot_tcp_poses.csv
@@ -0,0 +1,108 @@
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diff --git a/cube1/missing_corner/path_0002/robot_tcp_poses.csv b/cube1/missing_corner/path_0002/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffb5f9e11917974575697d616b97ce04d0b95298
--- /dev/null
+++ b/cube1/missing_corner/path_0002/robot_tcp_poses.csv
@@ -0,0 +1,79 @@
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diff --git a/cube1/missing_corner/path_0003/robot_tcp_poses.csv b/cube1/missing_corner/path_0003/robot_tcp_poses.csv
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--- /dev/null
+++ b/cube1/missing_corner/path_0003/robot_tcp_poses.csv
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diff --git a/cube1/missing_corner/path_0004/robot_tcp_poses.csv b/cube1/missing_corner/path_0004/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4cb75f8d4169a3b7cd3c6f8d5d5df08f842b2f84
--- /dev/null
+++ b/cube1/missing_corner/path_0004/robot_tcp_poses.csv
@@ -0,0 +1,100 @@
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diff --git a/cube1/top_surface/path_0001/robot_tcp_poses.csv b/cube1/top_surface/path_0001/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68ae70934d140fceb89742e567e8cb08ae20bf66
--- /dev/null
+++ b/cube1/top_surface/path_0001/robot_tcp_poses.csv
@@ -0,0 +1,90 @@
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diff --git a/cube1/top_surface/path_0002/robot_tcp_poses.csv b/cube1/top_surface/path_0002/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c1543f9c58dc4cc2c97b2977e780d762575e536
--- /dev/null
+++ b/cube1/top_surface/path_0002/robot_tcp_poses.csv
@@ -0,0 +1,95 @@
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diff --git a/cube1/top_surface/path_0003/robot_tcp_poses.csv b/cube1/top_surface/path_0003/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10dd603f820e8df1e17ac6c54b4bdb7ba91b82c6
--- /dev/null
+++ b/cube1/top_surface/path_0003/robot_tcp_poses.csv
@@ -0,0 +1,116 @@
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diff --git a/cube1/top_surface/path_0004/1746226549.710860_gopro.mp4 b/cube1/top_surface/path_0004/1746226549.710860_gopro.mp4
new file mode 100644
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diff --git a/cube1/top_surface/path_0004/robot_tcp_poses.csv b/cube1/top_surface/path_0004/robot_tcp_poses.csv
new file mode 100644
index 0000000000000000000000000000000000000000..763649f95c36eec1b98448c26e9f68f8f7b7375e
--- /dev/null
+++ b/cube1/top_surface/path_0004/robot_tcp_poses.csv
@@ -0,0 +1,116 @@
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