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diff --git a/Synthetic/RT287.h5 b/Synthetic/RT287.h5
new file mode 100644
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--- /dev/null
+++ b/Synthetic/RT287.h5
@@ -0,0 +1,3 @@
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+oid sha256:771e4db32404e7cd57bcb5e268a5f8e8960cb8de7d4b87d77d0ea8c26accadba
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+++ b/Synthetic/RT288.h5
@@ -0,0 +1,3 @@
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--- /dev/null
+++ b/Synthetic/RT289.h5
@@ -0,0 +1,3 @@
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+size 35769202
diff --git a/Synthetic/RT290.h5 b/Synthetic/RT290.h5
new file mode 100644
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--- /dev/null
+++ b/Synthetic/RT290.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:854faacb438b6c30de1a0470b73e21ff20280e24d560cc98dbc9b5f68d0948a9
+size 33483048
diff --git a/Synthetic/RT291.h5 b/Synthetic/RT291.h5
new file mode 100644
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--- /dev/null
+++ b/Synthetic/RT291.h5
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a4df3fab06fcd203d903e2e63e6c15b289ac8a249ca4ccaa4236feb0a5eb6887
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+oid sha256:d3cf672fa46a2236bfc6c8e4d5cd509032faf7b9c2fe95b95131451980b8ca45
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diff --git a/Synthetic/RT293.h5 b/Synthetic/RT293.h5
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--- /dev/null
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@@ -0,0 +1,3 @@
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+oid sha256:5c2f3b81fd7eaede88e4f3d05f67532abafcf6a79dabc787b7098606ee152f5e
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diff --git a/Synthetic/RT294.h5 b/Synthetic/RT294.h5
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--- /dev/null
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diff --git a/Synthetic/RT295.h5 b/Synthetic/RT295.h5
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diff --git a/Synthetic/RT297.h5 b/Synthetic/RT297.h5
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diff --git a/Synthetic/RT298.h5 b/Synthetic/RT298.h5
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--- /dev/null
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diff --git a/Synthetic/RT299.h5 b/Synthetic/RT299.h5
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--- /dev/null
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diff --git a/camera.json b/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a8caab8e12058a958d917158c7c10c90c259b6
--- /dev/null
+++ b/camera.json
@@ -0,0 +1,28 @@
+{
+  "Nu": 1280,
+  "Nv": 720,
+  "cameraMatrix": [
+    [
+      1258.6057531097028,
+      0.0,
+      640
+    ],
+    [
+      0.0, 
+      1258.6057531097028,
+      360
+    ],
+    [
+      0.0, 
+      0.0, 
+      1.0
+    ]
+    ],
+  "distCoeffs": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/load_h5.py b/load_h5.py
new file mode 100644
index 0000000000000000000000000000000000000000..d9983a03e97eb42314d499c7f75ec9a676b150e9
--- /dev/null
+++ b/load_h5.py
@@ -0,0 +1,69 @@
+import h5py
+import pandas as pd
+
+
+def load_h5_data(h5_path: str):
+    """
+    Load events and labels from an HDF5 file.
+
+    Parameters
+    ----------
+    h5_path : str
+        Path to the HDF5 file.
+
+    Returns
+    -------
+    events : dict
+        Dictionary with keys: 'xs', 'ys', 'ts', 'ps'.
+    labels_df : pd.DataFrame
+        DataFrame containing pose labels and timestamps.
+    """
+    with h5py.File(h5_path, "r") as f:
+        # ---- Load events ----
+        event_grp = f["events"]
+        events = {
+            "xs": event_grp["xs"][()],
+            "ys": event_grp["ys"][()],
+            "ts": event_grp["ts"][()],
+            "ps": event_grp["ps"][()],
+        }
+
+        # ---- Load labels ----
+        labels_ds = f["labels"]["data"]
+
+        labels_df = pd.DataFrame({
+            "filename": labels_ds["filename"].astype(str),
+            "Tx": labels_ds["Tx"],
+            "Ty": labels_ds["Ty"],
+            "Tz": labels_ds["Tz"],
+            "Qx": labels_ds["Qx"],
+            "Qy": labels_ds["Qy"],
+            "Qz": labels_ds["Qz"],
+            "Qw": labels_ds["Qw"],
+            "timestamp": labels_ds["timestamp"],
+        })
+
+    return events, labels_df
+
+
+def main():
+    h5_path = "./h5/RT000.h5"
+
+    # Inspect label dtype
+    with h5py.File(h5_path, "r") as f:
+        print("Label dtype:")
+        print(f["labels"]["data"].dtype)
+
+    events, labels_df = load_h5_data(h5_path)
+
+    # Preview events
+    print("\nLast 10 events:")
+    print(pd.DataFrame(events).tail(10))
+
+    # Preview labels
+    print("\nLast 10 labels:")
+    print(labels_df.tail(10))
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file