diff --git a/place_can_basket/ur5_randomized_500/data/episode105.hdf5 b/place_can_basket/ur5_randomized_500/data/episode105.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f393a06e508513e44d96459db50242e1f158e5e9
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode105.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5792e20f9f45a11b1ec12d37681dd435cc299e198a46afc8d333745ee940b5ee
+size 24214360
diff --git a/place_can_basket/ur5_randomized_500/data/episode121.hdf5 b/place_can_basket/ur5_randomized_500/data/episode121.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..de151daaf4364783f1f2a0a0f9afe64e74dc06a7
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode121.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c99cee7c8e3e2abed973f87511873e0ba75c222b1378775642c283300015e1
+size 19050320
diff --git a/place_can_basket/ur5_randomized_500/data/episode123.hdf5 b/place_can_basket/ur5_randomized_500/data/episode123.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5f1358178b90a8db64e4dbe7d63de565adb84cc5
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode123.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb111b9040ed28b67261143a170fa39a034347bcacd82291d6b77c9aa3cca842
+size 19622612
diff --git a/place_can_basket/ur5_randomized_500/data/episode124.hdf5 b/place_can_basket/ur5_randomized_500/data/episode124.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6fec108ac2de8fada0767c66b617e26180dbda33
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode124.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d184128aca0440e561ed30f14b8d59e21d2d1f4d1b91dd9569ae992681dade2c
+size 19113224
diff --git a/place_can_basket/ur5_randomized_500/data/episode13.hdf5 b/place_can_basket/ur5_randomized_500/data/episode13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ffee2db0f4629327f345347131f6069532ed096f
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c9334fb6098352a151cd3f6f5ef6eebfb2b4f0706c5875920c2e8163d10fe5
+size 19457312
diff --git a/place_can_basket/ur5_randomized_500/data/episode131.hdf5 b/place_can_basket/ur5_randomized_500/data/episode131.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..705bef85bfaa95cbb6fba70d37d6e4e24e703c87
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode131.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6aa8b1ff18494f6be21a5c265f374d565a63260ad6983fb6c100c01222dc125
+size 19154340
diff --git a/place_can_basket/ur5_randomized_500/data/episode135.hdf5 b/place_can_basket/ur5_randomized_500/data/episode135.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab1343b6241b35976ea4c60ad7466e350b86b08d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode135.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1c933c85185a31fb64549ba2120aebb56b9cd26071e2354b84c47d27c75d20
+size 20552882
diff --git a/place_can_basket/ur5_randomized_500/data/episode136.hdf5 b/place_can_basket/ur5_randomized_500/data/episode136.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9767a88936e38a7fcda896889d0b60ba7460f4b0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode136.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c472951b77687e107f90d9345a1c4779ec1edb2cc6a006b426955f223aefd477
+size 19855256
diff --git a/place_can_basket/ur5_randomized_500/data/episode141.hdf5 b/place_can_basket/ur5_randomized_500/data/episode141.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4a0b36084fffbb201a1cba6ef449665b89589bfc
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode141.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75e4cedf7410b8eeadd057f466056b8428cda7e5a49bbdd8f69227c87d930b72
+size 19501463
diff --git a/place_can_basket/ur5_randomized_500/data/episode144.hdf5 b/place_can_basket/ur5_randomized_500/data/episode144.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8fa79f1f803bb39b604538db6083d48c1eb26b3b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode144.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339fa4c622ea72bcb270a1ad14f74b0c2a7e407f527c99ebfd5681c160a9df90
+size 14362175
diff --git a/place_can_basket/ur5_randomized_500/data/episode152.hdf5 b/place_can_basket/ur5_randomized_500/data/episode152.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0c97723ec055e50d2d92d9459e9cf7ed074fd04f
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode152.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aaa71627eaff94575278b989500c8697ce07c29f9b8f5b2dc39bb112d7f2ed9
+size 15856670
diff --git a/place_can_basket/ur5_randomized_500/data/episode162.hdf5 b/place_can_basket/ur5_randomized_500/data/episode162.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..28870155077898dd89f1a56c291ab11f544fbf08
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode162.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e76f40b608d228f8d69e9c19ac35923efb356acc8c12f714437e17c7ebdd27
+size 19618955
diff --git a/place_can_basket/ur5_randomized_500/data/episode165.hdf5 b/place_can_basket/ur5_randomized_500/data/episode165.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7d5b8cafb19d15eca033c060a3ac8c88b6c79039
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode165.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c845ceeb4311d165d2d9f3ed08268980b42a53706fd1fad642982bcd0cf9f43
+size 21953549
diff --git a/place_can_basket/ur5_randomized_500/data/episode166.hdf5 b/place_can_basket/ur5_randomized_500/data/episode166.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e492f3d2eb57c1f81af0dcbcce2555be3c643b46
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode166.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca16a642723cbf8a8ec01afe7f567ef3da5e1f70440aa35ba0c5ca17daab4e01
+size 17002492
diff --git a/place_can_basket/ur5_randomized_500/data/episode171.hdf5 b/place_can_basket/ur5_randomized_500/data/episode171.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..094746de05658e68dbe07b18fc5bd8ca10457197
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode171.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c92a167cc9e2e67cfadd9f6aaad5757b41902a5b92c0bd195c602d58c8accb3
+size 22177732
diff --git a/place_can_basket/ur5_randomized_500/data/episode173.hdf5 b/place_can_basket/ur5_randomized_500/data/episode173.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b82709c3012c986186e8fa818e8b69f62e9ecab4
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode173.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c901e41b09cc741d195b04a5f5b3116d01a390ea6e34e9ac016ee4dbe8518d7
+size 19968968
diff --git a/place_can_basket/ur5_randomized_500/data/episode177.hdf5 b/place_can_basket/ur5_randomized_500/data/episode177.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e2e7f83cdd492a1fd53fb485c75e127aa2520341
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode177.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2285791349e2f320eea55aa8e83f29a30b906e13d99a144d1f5ed6daf7295a15
+size 23024612
diff --git a/place_can_basket/ur5_randomized_500/data/episode179.hdf5 b/place_can_basket/ur5_randomized_500/data/episode179.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a3ccfcb9d7de8ce5701a1a00d8cfc99000b97ae2
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode179.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e610942348134cc9ecd38bc8ddcb766ec97c782a8b13f8f62f59cad57cff0e14
+size 24004588
diff --git a/place_can_basket/ur5_randomized_500/data/episode185.hdf5 b/place_can_basket/ur5_randomized_500/data/episode185.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d7b02544d410134d0be53c345db60af54bd406ce
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode185.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f307631f642480fe06e70f4f8e637cc4f6d88c68c9d45574de281953d064a3
+size 17086043
diff --git a/place_can_basket/ur5_randomized_500/data/episode191.hdf5 b/place_can_basket/ur5_randomized_500/data/episode191.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..86ee0788923ec8bb5c5416f98abcc197d02bc366
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode191.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377b36c4d0c0647e5f5b236791bfbcd668572ca945782815ccc36426a9bdcabc
+size 23559293
diff --git a/place_can_basket/ur5_randomized_500/data/episode206.hdf5 b/place_can_basket/ur5_randomized_500/data/episode206.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2c8fcac2619647d74172d46476db01d74b2f432e
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode206.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c34c4e3826f5caa679d5bbcf53bec5f58627127601a6d7f3b3681de54f0c62
+size 21303176
diff --git a/place_can_basket/ur5_randomized_500/data/episode219.hdf5 b/place_can_basket/ur5_randomized_500/data/episode219.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2290c568dd4fd5b1e6208b835681ca9cdd0c8a8c
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode219.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df98887fcf0c061062df56b302946171f8109ac5001e33ecc5d22bfd65908212
+size 18439482
diff --git a/place_can_basket/ur5_randomized_500/data/episode24.hdf5 b/place_can_basket/ur5_randomized_500/data/episode24.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..56b8c7dd0ece42c00c8cddee329be54a3d1d0f87
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode24.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a0896fa5e488fa13c70351844e685a203873fcb784d8df6941a8bfe4b8861ab
+size 16999484
diff --git a/place_can_basket/ur5_randomized_500/data/episode241.hdf5 b/place_can_basket/ur5_randomized_500/data/episode241.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a720da136d8a2bac94a16324fb67a4292e72c50b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode241.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f3bc34d9be676e2206f8598109cbb4cca770ff74ca37ec74b54063ccc74d1a
+size 20193498
diff --git a/place_can_basket/ur5_randomized_500/data/episode269.hdf5 b/place_can_basket/ur5_randomized_500/data/episode269.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0b1a3c43f41eaaed2ed72d1197b5683f29ba57d9
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode269.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cbf76989eac4b685db8085ce39147102b22f550fede0e75dd00e1b72f4561d5
+size 19384464
diff --git a/place_can_basket/ur5_randomized_500/data/episode271.hdf5 b/place_can_basket/ur5_randomized_500/data/episode271.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..76ee3e4bbebfa7f117903a263277676ef41c1476
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode271.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d716c31d3d7a461c930768b17b3cba54cae1dc4a875af322a78d97040da475e4
+size 17984052
diff --git a/place_can_basket/ur5_randomized_500/data/episode279.hdf5 b/place_can_basket/ur5_randomized_500/data/episode279.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..150406f9d6e75e6af98378cb21123352de8f56b5
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode279.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb39560b53d8ef622f7c8bec7a1754f3c7040995918fb581cadb78be00d6a50
+size 22232702
diff --git a/place_can_basket/ur5_randomized_500/data/episode283.hdf5 b/place_can_basket/ur5_randomized_500/data/episode283.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b9dcb4876e82424a312e8b912b6e506000cc0faf
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode283.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef41cb66cccee260388684e11755e4c6dd755d3a8be489af639a1bb5c3abb598
+size 22879748
diff --git a/place_can_basket/ur5_randomized_500/data/episode286.hdf5 b/place_can_basket/ur5_randomized_500/data/episode286.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4fee0a66d4f649e44d36635bb89d56a6e1f0abc0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode286.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb86d5cac9eac33f5d3945609989030262dfbc8eff819d58c8567f7ab368ef4
+size 17001411
diff --git a/place_can_basket/ur5_randomized_500/data/episode299.hdf5 b/place_can_basket/ur5_randomized_500/data/episode299.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a684e660510e803aac2963829d077252349e0b3e
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode299.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfccd6811ad25abcdd76ae11abd98ac8875e862d8222cd5ecdba67b09133cd95
+size 16655762
diff --git a/place_can_basket/ur5_randomized_500/data/episode301.hdf5 b/place_can_basket/ur5_randomized_500/data/episode301.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..091118d5a22aab7b0159444b2e4432ec31cce5f0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode301.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07713bb2cedb4593ee6b8cc3fdda6e44ccc49bb7127236bbe0149493d8a9c75
+size 17699432
diff --git a/place_can_basket/ur5_randomized_500/data/episode303.hdf5 b/place_can_basket/ur5_randomized_500/data/episode303.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a085952e7e14910fd22c958187257a8e3c22f64d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode303.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a3d375eeae1a058aedb496d9f4d851f01dca077e7037c4537a3475a797c060
+size 18541836
diff --git a/place_can_basket/ur5_randomized_500/data/episode305.hdf5 b/place_can_basket/ur5_randomized_500/data/episode305.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..75bd0d2c46c28c3fbdc9683b737b53b536006be0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode305.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf934fbc68e8f049f0df56698aceca7e536e6633d23c06a86422666aeb51d07
+size 24930697
diff --git a/place_can_basket/ur5_randomized_500/data/episode312.hdf5 b/place_can_basket/ur5_randomized_500/data/episode312.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..33cc2dad262b2c848a8155a15d80d16ab1c3d773
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode312.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3059a3afdbc6678d440b37cd1c3318c96ce2e533eef1afb284f464526efb2e6
+size 27661292
diff --git a/place_can_basket/ur5_randomized_500/data/episode313.hdf5 b/place_can_basket/ur5_randomized_500/data/episode313.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a98835110b8c0eb87f3a82fdba2be5a063dd0949
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode313.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e0042265b93f93f18a8c46a8dc24a360b05467e233783e93d060786619dc2c
+size 21285321
diff --git a/place_can_basket/ur5_randomized_500/data/episode322.hdf5 b/place_can_basket/ur5_randomized_500/data/episode322.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..416280d2c7f78334e492e49752293d243a509127
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode322.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e9de91577db6b49d7cf5a908f576a59f0cef0c0a08bf4b60dd1db50722d107
+size 16256952
diff --git a/place_can_basket/ur5_randomized_500/data/episode327.hdf5 b/place_can_basket/ur5_randomized_500/data/episode327.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82370c1a3565d1dc09cfe5d0ea0076b611ecafc3
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode327.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e1b5b34623539dbbfafbf28c7c246ea133f39be53e3fe30862b55d5518af021
+size 19497943
diff --git a/place_can_basket/ur5_randomized_500/data/episode332.hdf5 b/place_can_basket/ur5_randomized_500/data/episode332.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..19b98931615218dc626515cd67c198d0874bb342
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode332.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48165fcc877e06fa430881423ca62063fa3bb3ca68b623b17118917c5a1fa1e2
+size 22051422
diff --git a/place_can_basket/ur5_randomized_500/data/episode335.hdf5 b/place_can_basket/ur5_randomized_500/data/episode335.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ca86b7b91e2b5d4602339022d58b95fc65c6ca4f
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode335.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64cf2e9a25406dd2c8b9a0e03f1c4564ff87e68c9f30e3004d14869041cc8be8
+size 17912840
diff --git a/place_can_basket/ur5_randomized_500/data/episode339.hdf5 b/place_can_basket/ur5_randomized_500/data/episode339.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c449533023cb9a606695c162002a2d9901c4c66
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode339.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cad5dc876a9c580d06dfe33b531fe8dfb959c4a370587d15e246bfbfd04725
+size 20138504
diff --git a/place_can_basket/ur5_randomized_500/data/episode343.hdf5 b/place_can_basket/ur5_randomized_500/data/episode343.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..28addbbbbb104ec0ec6a9d14d9b55c5d864f2476
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode343.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6314bc56735b7510726bc48677842c7d33ba3dd9126317abbc366e40e8f1a40b
+size 19125920
diff --git a/place_can_basket/ur5_randomized_500/data/episode344.hdf5 b/place_can_basket/ur5_randomized_500/data/episode344.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..059a906ea0c2be1284f82ba223ae5faaab292568
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode344.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576e5b833da88bc981e323d683b46f310cf2447188f9592a0e22cc61af213363
+size 18827724
diff --git a/place_can_basket/ur5_randomized_500/data/episode346.hdf5 b/place_can_basket/ur5_randomized_500/data/episode346.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..99cc7d7b45f92cfdf3f4ec683031a3cac18cfd1d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode346.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfac4fb05dbb91b4f62c648247b189a82544809335499fd7afa1cbe56f441cc
+size 20939122
diff --git a/place_can_basket/ur5_randomized_500/data/episode348.hdf5 b/place_can_basket/ur5_randomized_500/data/episode348.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d820bce030999544ba9cc0ddc95e4caddc87ce4d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode348.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf63735c43b1d2511c2f9a96b0ff492dc5c899dc69d9272768ed8ebc9ed5c280
+size 26003720
diff --git a/place_can_basket/ur5_randomized_500/data/episode349.hdf5 b/place_can_basket/ur5_randomized_500/data/episode349.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ac0c2105d7aa6c7c14b0b4c96fe0a44af971244b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode349.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5e14e7f0446e1bf324630c4a59bf884af6f5f59afe220b9a485f595afc1462
+size 20024360
diff --git a/place_can_basket/ur5_randomized_500/data/episode37.hdf5 b/place_can_basket/ur5_randomized_500/data/episode37.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..75d8b327cffe4423e59d8b3d338c314a68c4e1b0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode37.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc20701f75f3678d0b38fc8cf99692789c5bca6f37404a7602f68e8c2ed23b4
+size 21137292
diff --git a/place_can_basket/ur5_randomized_500/data/episode374.hdf5 b/place_can_basket/ur5_randomized_500/data/episode374.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d33227e7ddb299a042dd268d41d132b788391610
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode374.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db0e78fb513cbd9db10d0a91d6de943389950d3ed87f59029a2dfa7980cc7d9
+size 24228592
diff --git a/place_can_basket/ur5_randomized_500/data/episode386.hdf5 b/place_can_basket/ur5_randomized_500/data/episode386.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..df1cbed028725c0a9226de75505478ebedc4537b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode386.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7f15ceb75d6e2bab444291c6ff13457112aa09b0b8c3e86bab858f20f2f163
+size 16365536
diff --git a/place_can_basket/ur5_randomized_500/data/episode387.hdf5 b/place_can_basket/ur5_randomized_500/data/episode387.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a90ee52a6fcc7c02a7fd65acbb33f0e3c5e175fd
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode387.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14886733fd6aea28415b82b2dcbe7d36f657d9eb4e0b3f14b9f7f1fac77bc33a
+size 22401410
diff --git a/place_can_basket/ur5_randomized_500/data/episode394.hdf5 b/place_can_basket/ur5_randomized_500/data/episode394.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9c95114e8f574f62407964f11e3a7087e70b1bb3
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode394.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14e69509b90a8bba414c83d773e9f21b9183890c82a4eea8685211c5851e7d0
+size 20718152
diff --git a/place_can_basket/ur5_randomized_500/data/episode397.hdf5 b/place_can_basket/ur5_randomized_500/data/episode397.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..55014accde38f6e19edd8a8d21e11499e656770b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode397.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4afa27dff2c9c0c258bf73797f4966216fa42c7fb419c6d7272ad6ace8f39b51
+size 25274888
diff --git a/place_can_basket/ur5_randomized_500/data/episode400.hdf5 b/place_can_basket/ur5_randomized_500/data/episode400.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..42085b281a563c208259b18c3bb47fb3fb610f3d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode400.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0aff21bbf9140edcc0e286bdf839fccbbc7d370be514a3d906c271d4f91fade
+size 17835479
diff --git a/place_can_basket/ur5_randomized_500/data/episode403.hdf5 b/place_can_basket/ur5_randomized_500/data/episode403.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..37471d28adea88e8f02bab743d368ee0091fb803
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode403.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1695c313d01e26280f6e67ec4a55a62bd5f2d78ddf3434f2eeeca60e7ca98f
+size 21731528
diff --git a/place_can_basket/ur5_randomized_500/data/episode408.hdf5 b/place_can_basket/ur5_randomized_500/data/episode408.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..79fd43f6cca8b4e260b35cdab427daeb962396f7
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode408.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eee31ff171f0f7254ecc33d700fbb0d9f72f1120ab48f6d7d02d54ce7dbbe48
+size 17386122
diff --git a/place_can_basket/ur5_randomized_500/data/episode415.hdf5 b/place_can_basket/ur5_randomized_500/data/episode415.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1b9e153b471be3051638cbc86d7956cdc9927cf6
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode415.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e648981003ec5540a8601a270d9795b203ff030ad346371a421ac7bd013c43
+size 22066012
diff --git a/place_can_basket/ur5_randomized_500/data/episode423.hdf5 b/place_can_basket/ur5_randomized_500/data/episode423.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c77b119141df05319432a4fe2576fc635330d09
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode423.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f686e7de6ea7c2322890895d9e0e73db9827dca2a71373d82b9c9d24999f0acf
+size 17115856
diff --git a/place_can_basket/ur5_randomized_500/data/episode429.hdf5 b/place_can_basket/ur5_randomized_500/data/episode429.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d0e1ec8587b4efda63734eb8dcc2a94397f94cf7
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode429.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9c7b3c4678b442f04d33c69018dafe57fcd5c0446ab00d83b563e87c8f9f18
+size 17605032
diff --git a/place_can_basket/ur5_randomized_500/data/episode449.hdf5 b/place_can_basket/ur5_randomized_500/data/episode449.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e8263a32ccb282c437037da71ed667400dcde507
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode449.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f6a6b406d95a0b9fc0f237309b0fa525b9164d70a8cb3ad9d55832785f10ba9
+size 19047368
diff --git a/place_can_basket/ur5_randomized_500/data/episode45.hdf5 b/place_can_basket/ur5_randomized_500/data/episode45.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fdd91f664443c0cbe4122c6cbe998d37afb0e96c
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode45.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf8942a7f5db661938a2787163fd232335588ac5ad24a44c716060c6ed9fe13
+size 19027592
diff --git a/place_can_basket/ur5_randomized_500/data/episode458.hdf5 b/place_can_basket/ur5_randomized_500/data/episode458.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..485ec214505c4cbe01e323dfd498d72ee7000095
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode458.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12294e00a6b3b712f7184b3155d96feb8229ab137e664c7533feba5f3f9fd43d
+size 25063166
diff --git a/place_can_basket/ur5_randomized_500/data/episode472.hdf5 b/place_can_basket/ur5_randomized_500/data/episode472.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d3a238258a1270bf628f8a4eeb44893fad0864bd
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode472.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d11bd9ed2ecb34ae5aef3b36a779d37d418b1995aedceaf67369ee1f0fd08a5
+size 15937679
diff --git a/place_can_basket/ur5_randomized_500/data/episode474.hdf5 b/place_can_basket/ur5_randomized_500/data/episode474.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4c86b6574e0dd7052b50770ff1e1fdcb545e320d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode474.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9b1e21ed2b45549e9aec7196cd811eb482602f79d31cc69a2eae8e561a49ad
+size 17519565
diff --git a/place_can_basket/ur5_randomized_500/data/episode476.hdf5 b/place_can_basket/ur5_randomized_500/data/episode476.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2d7e70942bd688e4bd19d0af6f521fce0182c5a3
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode476.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ec09d2b8324b079e3adf58e625196ac045d7083f37347a113cf110106eb2f9
+size 17967308
diff --git a/place_can_basket/ur5_randomized_500/data/episode481.hdf5 b/place_can_basket/ur5_randomized_500/data/episode481.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d45103519cdadc76e067b9acd1e1c670b716e02c
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode481.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598ee5906c5b81c83db8196ca84f54bd99c39a986a28bd67a8e9a9e652944a73
+size 19853759
diff --git a/place_can_basket/ur5_randomized_500/data/episode486.hdf5 b/place_can_basket/ur5_randomized_500/data/episode486.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cdd3bcc78217de5d52b94fbdc286c31299bb38ce
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode486.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd4399fcfbbab70cb2e88bef4dc7398d579a2b60c0d63fefbe6c8e76315f6c60
+size 15271992
diff --git a/place_can_basket/ur5_randomized_500/data/episode491.hdf5 b/place_can_basket/ur5_randomized_500/data/episode491.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b26d35e52e7a3d590524e2b80507b9eaa0ece258
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode491.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d38d00e363d273b7234b72501242508ca9b3639f2b66fdaa4f1c1ee76a8adf
+size 17755641
diff --git a/place_can_basket/ur5_randomized_500/data/episode53.hdf5 b/place_can_basket/ur5_randomized_500/data/episode53.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d38b49c56d16d1610ebcdc52390fad8b388891fb
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode53.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0653a9c360e908c5b73bcfccf959e541bc9f27d7aae6b9be52f750e56501a2f6
+size 17269448
diff --git a/place_can_basket/ur5_randomized_500/data/episode66.hdf5 b/place_can_basket/ur5_randomized_500/data/episode66.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bc016832a7209ba49cf1b5e420edcbd202021fd8
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode66.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9adfd97b5e94c1e071bdb8f8973f0adfb068e768662f6b9e50507e0808a6604
+size 21328520
diff --git a/place_can_basket/ur5_randomized_500/data/episode71.hdf5 b/place_can_basket/ur5_randomized_500/data/episode71.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fa20187ab845c2cfa6d16b555b0d83c8fed056e7
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode71.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b0778a0a075cd431196a7e3484b08ad13a7193d0d6d56fb67d4f33be83fd34
+size 20015988
diff --git a/place_can_basket/ur5_randomized_500/data/episode72.hdf5 b/place_can_basket/ur5_randomized_500/data/episode72.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..021f0b06cee1671e8eb1b7e6edfc8644b13c03c4
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode72.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:297575e177cc82c2d09209dfee124334cb13ec73addcb4452aa8e3a0d60c2b45
+size 18825977
diff --git a/place_can_basket/ur5_randomized_500/data/episode77.hdf5 b/place_can_basket/ur5_randomized_500/data/episode77.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b0ad91a3a0fb713435ed900d52f0297412f882e1
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode77.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06f8519bf490aee71b85faf60c3b76e9f5ea552e446c5cbe4648d40b0de8ca3
+size 26122322
diff --git a/place_can_basket/ur5_randomized_500/data/episode79.hdf5 b/place_can_basket/ur5_randomized_500/data/episode79.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..564c15866a86fcc547fe395089000aba9e558b7d
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode79.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74d78158e3543bae33d8a871d55918e1ded7918385e6136e6b7f8eab08b27a7
+size 24496172
diff --git a/place_can_basket/ur5_randomized_500/data/episode90.hdf5 b/place_can_basket/ur5_randomized_500/data/episode90.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..320c26b580f36ff56027a45257394ed0c7f665b8
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode90.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431b3b6f49e651a69651aa487878be4ae33026e8fbb07b8566154a6bc34ec3c3
+size 23512744
diff --git a/place_can_basket/ur5_randomized_500/data/episode94.hdf5 b/place_can_basket/ur5_randomized_500/data/episode94.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f94b1c89be75e896b99cb23dc7aecbab9f2e34f0
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode94.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f194df32d0c8410bb42ee6bc1df349d3d5c6f9c2d4f38d27e9273d825187447
+size 26396936
diff --git a/place_can_basket/ur5_randomized_500/data/episode97.hdf5 b/place_can_basket/ur5_randomized_500/data/episode97.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5d3998a2c286c81d0d0824ae0011d00176093f8b
--- /dev/null
+++ b/place_can_basket/ur5_randomized_500/data/episode97.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd10cb8c06a92c500cd5203a1f3f8560392431a78c3f21479516971ce45c54b
+size 22366782