diff --git a/.gitattributes b/.gitattributes
index 8c25db7a5c10f90d1cae5ed81de18f9abc129f1b..f221f2b630b092db72be6d7fd109d8c83abc1901 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -80033,3 +80033,198 @@ hanging_mug/franka_randomized_500/data/episode419.hdf5 filter=lfs diff=lfs merge
 hanging_mug/franka_randomized_500/data/episode96.hdf5 filter=lfs diff=lfs merge=lfs -text
 hanging_mug/franka_randomized_500/data/episode78.hdf5 filter=lfs diff=lfs merge=lfs -text
 hanging_mug/franka_randomized_500/data/episode31.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode218.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode477.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode104.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode383.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode59.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode359.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode167.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode195.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode452.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode294.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode433.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode54.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode288.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode471.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode425.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode376.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode26.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode128.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode406.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode396.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode21.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode134.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode426.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode402.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode316.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode57.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode84.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode35.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode196.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode329.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode98.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode261.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode216.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode110.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode153.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode147.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode422.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode250.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode48.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode314.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode377.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode56.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode440.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode496.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode337.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode488.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode106.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode125.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode127.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode247.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode91.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode83.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode273.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode217.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode375.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode257.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode64.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode473.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode186.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode456.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode179.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode162.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode429.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode299.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode476.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode165.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode387.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode458.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode77.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode386.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode481.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode301.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode322.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode90.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode344.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode269.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode97.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode135.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode141.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode105.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode24.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode185.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode303.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode346.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode286.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode474.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode66.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode397.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode491.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode136.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode53.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode37.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode271.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode177.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode152.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode279.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode349.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode408.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode313.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode94.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode348.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode339.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode123.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode486.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode173.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode403.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode206.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode305.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode131.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode144.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode124.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode415.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode191.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode241.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode121.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode343.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode400.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode71.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode472.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode166.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode219.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode327.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode394.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode312.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode332.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode423.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode45.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode449.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode171.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode72.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode335.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode283.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode79.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode374.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode487.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode295.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode17.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode253.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode266.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode122.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode22.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode310.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode362.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode461.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode158.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode28.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode480.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode61.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode248.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode353.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode27.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode483.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode68.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode330.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode194.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode361.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode352.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode193.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode29.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode414.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode385.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode407.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode107.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode161.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode401.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode126.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode490.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode168.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode163.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode430.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode184.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode265.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode417.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode60.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode180.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode384.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode345.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode469.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode80.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode229.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode363.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode189.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode275.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode87.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode272.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode448.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode174.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode63.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode242.hdf5 filter=lfs diff=lfs merge=lfs -text
+hanging_mug/franka_randomized_500/data/episode133.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode112.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode112.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2903727198c9dccf47bd800520ba87a26452f559
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode112.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ad6be123e6ffbd61825177aa50d0000fbfb5784e9fd5e4ee7e0f1a116ee0e8
+size 207493
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode113.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode113.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3901c894cb32c1d7e2f7a52ffc447ded97cf0b5
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode113.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4d5474dbf143e71934de1d134c8fc16b699c10587b537d2383ba607f50d4a0
+size 237272
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode118.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode118.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e37bda486f32a67e14c5854d28e05d245a25af34
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode118.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a51662acc4b163c184e2f4c5e9cb60026ff38fd162e3a518812e2c25f70e59
+size 195576
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode12.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..930de386f80e3a4f3f8a773a0238b21506b012d1
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4d3a8a87206b89ad2f9deeae34534cf36936429f6fcfa12584d24abcfc1065
+size 171748
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode121.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode121.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad993d99281f096f7a20cbde939ac22e5fab804d
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode121.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6411ee7c7201a910431a9080f20e245a950e0cebd9aacafd8564971dadf748ce
+size 209181
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode125.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode125.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a2757ba424e616659b77bb43f2b836fc14e10fa
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode125.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a2a89cec5d4d1f5005a4315f1794e3765b7bc837b60356e62d0d9a1d61b351
+size 212287
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode13.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62d292b596fae161745a1f63e11278f547693673
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc365b2b98d04a912eabffefeaf5776a9e814053adae74f8d1f4d700b3f17fe
+size 173828
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode133.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode133.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e91fca6fd91e06da89f3adb1fb4daab728a0269a
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode133.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077fb024f5c1171900a9cbf47b918bf64b323ad37920494feb9fcd260455536d
+size 285450
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode141.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode141.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a227fbc21472a54cf5cd56ba99bedc771bd6695c
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode141.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:558fa7e122f60038379e903a58245bcf3bdb370a5ce48aad9d57f5ed35be6836
+size 230491
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode147.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode147.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ce3d42ec5fb61f6c2e20dca766efd22fde2ba57
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode147.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e1f7c802e52fec4d9947d7f72dd146265f0a464b2d6fb67dfad5cdf8808731
+size 276651
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode166.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode166.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93daeacccb92183a627dd8438130f5cc9c95ea8c
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode166.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dacb1900325d748453598dbb029f9422c1ab880f9fa457c265fc3b35ab597898
+size 211840
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode174.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode174.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9113b31901b241b0d4615d916f8eddf05bcc5277
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode174.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c350d5e307519d53da7d9ab9749d49e7738eb068ed5775841aab5dab4dc68f
+size 191691
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode175.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode175.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51404b06379e3029315acc8ba850fd3325126663
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode175.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da9a664ba2be9f243bc9216927b0fc37805a4a339fd1a7c80f43bb13825a41c
+size 188104
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode176.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode176.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..408d3aa17859754ae7b3c1185df27d2f0c802d45
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode176.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e1ecdc70dc4f05ea806e3a0bd380dede14401e31cdd1fc19efcad62ec80ab6
+size 196980
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode186.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode186.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..749094c4bf3a03665d27fb03807f7481b9c82a44
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode186.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28b4f3c678d5c6e6a2bfe28f18c6d5cf029710ff8adcb1eaff65997efdbc930a
+size 223473
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode205.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode205.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2438f5da17c4c70e7ba77313b3402a6e1565fcae
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode205.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ecdb219c8c245ef9691860b0bedca05aaf5b274d703876b6be2824751227b5
+size 230464
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode207.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode207.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa28e2982818e4fbd94d44a19a681c50ee291ce4
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode207.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6c8926c7077fb56280f41e6c9e60ffd2ff172ce5b75ec90c6fb3ee74d4f5214
+size 187315
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode224.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode224.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9271cc0cf3a1d1da28f661d872c1ccd8d1319e7b
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode224.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45451f6f355c017b17288c8ea7c9add0d787fd98dc8ff4363a830112cc9b1a
+size 202738
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode243.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode243.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e829deb767bec409180ea5bdf4f134aa619c342
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode243.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a503d26126b20c638f49bf179931868e931328b0b260d0175d2f9c98e43a92
+size 216033
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode246.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode246.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b680b45fc8649a0c9f6fbefcb7d2b6bad12cef2c
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode246.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20607ce6cdd233eb724963b1189fc616cfcf446333a0dc5418b53273b414b055
+size 185325
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode250.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode250.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ea59b0389147c154a77e0d0d0b190d3d4f9bb9d
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode250.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6720633630de213c8d217e47cc7616cfbe86b7d56b6175805abaa681865671a0
+size 167191
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode258.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode258.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de4a3b9dc4760d611b48a2b812a884b6affa0098
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode258.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66187db7a975fe8c0b348f854ad7b09f953306cf662ee6756a73c84fe7ed8f88
+size 210463
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode268.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode268.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2105fab602fa97b3c2acbfc6f8fb8c13c2e47358
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode268.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb7c87a5da5feb6dfc4faaa8472ca726fc93757a1bfb903d56ca9f8e8b5dfb1
+size 202618
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode269.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode269.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..736c2afc12902251b5efbfbc85132f585d24a0dd
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode269.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:749d343e898d50591ff5d13548663bcfbdcbccddff9196f641de4688f66ae760
+size 242518
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode281.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode281.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39802260600c02111b867519cc32f8483da947a1
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode281.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d85789a8637983786fb5fd80a9cd5813e8f8da2fd9281cf9b400a0f6295104
+size 238203
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode284.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode284.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a027bbba7abdd5f19a0ad0cd2879612aa6d4ed76
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode284.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42afdfc264953f73133e62884b990bda6f1c14c4bf45fc03d09c9ae99c22d317
+size 181802
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode30.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f022c7b6d5c8f97a9b96c3dab26b48018a30c4d
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2230e52d0012a3376d75077a92a43cc6fb95298ee969e328887a21cf432953
+size 227810
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode321.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode321.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6110d9fd42b19737f791588b389e0e2f6b6ef
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode321.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98d36946176efe6ee4cd4bae57c5bd7797e6a0e311fe895a405a089f7ba7444
+size 186489
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode322.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode322.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79ca2b4997fc84ad7e0167ac65e89c55518347b5
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode322.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457840d1802064003ab588448f7f9351be97472ceba8a97c203a1063efd4a72c
+size 269398
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode34.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode34.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96a6979fa767403c9d04b0b7a42f68d1c8480250
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode34.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f2f480c51a204da07a8c4d3977183614581a655e078e52a198bc23af1fe466
+size 196516
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode342.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode342.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55a4ad2fb53c6e9e739b7969ce3d9931092cfd42
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode342.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930f5b6713eee2b76e1177dcc2bef0aa4449ddfafc06c91d1c49bf2d53588c5e
+size 190164
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode346.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode346.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a4a2d475c37a0b62df9f362d37c1fc67198546d
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode346.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df2dcee1dfd3a588ca176f11e27c9ab8b6201716ec20f5c20897ef27145ed6d
+size 216372
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode354.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode354.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc70cd26d566968365887dbaa0ca165fef189b
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode354.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d4bc39495497113b58612a183e3fec586f967381e727e0580e100c1ba37af0
+size 202072
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode359.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode359.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81cca639f5d86d652474ba663ab8e17c7a0a05e6
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode359.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba285f62612e691d6df4a687d3f0168f7459897d3ecb5df988bf67a4d6bfc96
+size 209212
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode382.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode382.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adecf9aae823dfd9bebdcf1633c4006300feb7af
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode382.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a094f55715c15f4d8aa5aeb251cce4e2039380f081ef24c7868b36cfe2e563e5
+size 257643
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode387.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode387.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5becaca8539c1dc760ebabe972c9f347d8256822
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode387.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1643841e6f3eca235106c0bb113f0cb40c311915a7cbffe4c0df0db39f86c927
+size 187991
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode390.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode390.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a467d0c585b12a7af51d2f6dc291b3be906e36
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode390.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1bc3b24d786380bbaa133093636bf13bd7cf97807ff61aaa3a785a620f11beb
+size 215069
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode399.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode399.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a139c95d1e70a146c8fa8dd5dcc60dbc897cd0a0
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode399.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db41cb1805712744d9a004e4bd6bf628341bb9bdbf041d4b98d262430ad8e00
+size 174925
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode427.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode427.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e06b3dab6b6f4af047d356d2df1c0459be87155
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode427.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:203d9ed4216cd11f3eb448dd414199d346811849cf48f70be0122a16b1e8b000
+size 234042
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode43.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode43.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7366e6ce00bf340e25908c9efeb65e7ab89f4186
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode43.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3dacfe2d3a0964dc76a4d2193a90d7c2e6dd6851930559c8e40631899a57c08
+size 205591
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode440.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode440.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b676adb4596d5444533e8292581547afe739ba2a
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode440.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:616531631705c26144549637717dc468416fb5bc781d43062893fac39d9f2be5
+size 253864
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode458.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode458.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7b9a7830d35107f7c4cccf01556a9e689c09515
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode458.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399a9ae4d88697c5459135ea61315b99c26aa171c60fdba5df9b0fdbd49fc624
+size 197943
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode469.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode469.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aace7250d733fa6585ae8295dd52c413392c8724
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode469.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd4ed0c2714931d9d7c863919599da407f5e5cc6dc8ab7a83a338ed5204cfab
+size 194433
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode477.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode477.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bade09e2a5abb86bb745b203f485c35d265cc413
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode477.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee29b94a83b330f91cf0c8290957a71bf3343e63de52e521e4e29d2a7a596a09
+size 197199
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode480.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode480.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee0b360c69ec60bbe106aa16c27fdbd47c0e834a
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode480.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8d5b2ec237284df620da3bd140ccf7550b4ebfbb183cb786e2895851ce6c94
+size 228245
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode481.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode481.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9b7e26d4bc598acba0af5b58b76520e549cf88a
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode481.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc00970109d0b51e951a3c9cc342408e3adea5f5cc0c4d9366ecc5c7a5ab598
+size 230977
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode494.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode494.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcc6deb8937338d7d6d6c6a6706b45ce6491c032
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode494.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ea13f23ac50fc03c042ba113a65610a99ab78811d20af0a7bda1917e7fa655
+size 245319
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode53.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode53.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24de172c5f5991d0ae800f53bee67a5838da4ed3
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode53.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deae225d7fe4baabe6dd5e4a66115eead57e2a1561cc42df9e5ba02d5408f7c6
+size 231039
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode54.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode54.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3abecfc3490999ff17f581e61ca9900c3e373ff
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode54.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d13cf4d1e07f3c869f32e8353eb2e020c9304926a1714d73f567463178e7ee
+size 187124
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode63.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode63.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b161289aa1059e0f460d5feb5d7c438376d28f8
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode63.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faf1a63764ae02cb58040141a0cd5c96b1bf3ab7af953d408124dd5fbfd9edac
+size 181405
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode65.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode65.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10aff52f624f6142d62a2d37055817006acc5083
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode65.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e84f18b0fc9beef4a4a2e70723fb3a3ac151dc70b2b864bd6228b741b37689
+size 195893
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode69.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode69.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4748ec0bb2ad0f1c16a7ebc6c8bc1dd02094fb4
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode69.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e897956091ed6955058917e7668d08535efd323b7abcbeab9c496e78df491174
+size 212052
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode73.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode73.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2944cd9369f3afb5589eb1f4ef23414b0e38eb7f
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode73.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aab974fc46f12fea7c21949f1f2be5d2de7319fca30b262f73fb834ec314259
+size 151652
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode8.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec3129c6886f2462bab046df093a3eb22a7c475c
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d54b98cd85e595dbf689e53a24c9ce3f6e877f426a961345ebcb52c8a12bc7
+size 157116
diff --git a/hanging_mug/aloha-agilex_randomized_500/video/episode86.mp4 b/hanging_mug/aloha-agilex_randomized_500/video/episode86.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8cde3e76c89153fd8c0588fa3904eb70e91c118
--- /dev/null
+++ b/hanging_mug/aloha-agilex_randomized_500/video/episode86.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd1db29cb2107559a777884995566083f2288a3a562801073c49549486ba4c75
+size 175856
diff --git a/hanging_mug/franka_randomized_500/data/episode104.hdf5 b/hanging_mug/franka_randomized_500/data/episode104.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..233ab41cc2bcd8e7f36cb1ea7aa7f8a17a03dce5
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode104.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2068b3b0b55d3350007fdfaaa800617d38b7c502f455f81dca7c8f191961e4
+size 19392332
diff --git a/hanging_mug/franka_randomized_500/data/episode105.hdf5 b/hanging_mug/franka_randomized_500/data/episode105.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fa26419af3b89c8ab8f31cbe27fcd64940825b7e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode105.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1891b312bba6eda1260eae93e420f70f9727a9da9acc9ba779784d969a9bd4f
+size 27414222
diff --git a/hanging_mug/franka_randomized_500/data/episode106.hdf5 b/hanging_mug/franka_randomized_500/data/episode106.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d8a79d68d2922fe6acfb979ad665981e94e5e6ed
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode106.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:589f20347cde61923770a131ca9a66b9ad65196a61ac9971193002bfe6c2fd58
+size 16187776
diff --git a/hanging_mug/franka_randomized_500/data/episode107.hdf5 b/hanging_mug/franka_randomized_500/data/episode107.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..69c347a164f0314d6f168dba8c9b43b008d45e5a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode107.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8568d68db0639472ef410f344404c20003860f574041300796735a6f3749d4c3
+size 16136318
diff --git a/hanging_mug/franka_randomized_500/data/episode11.hdf5 b/hanging_mug/franka_randomized_500/data/episode11.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e859b5df80d1d86bab7f8cd283c301c8a50ee126
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode11.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37beb37c72eee4a277421b06602c2b0afa587a36a4b64c1cdf596b236c301f5c
+size 19303034
diff --git a/hanging_mug/franka_randomized_500/data/episode110.hdf5 b/hanging_mug/franka_randomized_500/data/episode110.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..729ab8c8d73f0f752f980f81f937eaf7ff3274de
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode110.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb487319221b0e892192169de8b8d8e7fe573005e16c953a4e7d5b0a549496c
+size 18369472
diff --git a/hanging_mug/franka_randomized_500/data/episode121.hdf5 b/hanging_mug/franka_randomized_500/data/episode121.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c6fa54020667d9a0e4f10ef8b0b8309117723e7d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode121.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708e2473376fff1e74c31590c411d3067d2523d4d0e054bc743aedbf87e08133
+size 19723640
diff --git a/hanging_mug/franka_randomized_500/data/episode122.hdf5 b/hanging_mug/franka_randomized_500/data/episode122.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5128d8fe097d7f3f67f5d0ac0db8bf88017d7fd0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode122.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd8bc4566fd8b102524d7d198c1cd93a755deeb1fbdee505033c5e85bf88eb2
+size 19521560
diff --git a/hanging_mug/franka_randomized_500/data/episode123.hdf5 b/hanging_mug/franka_randomized_500/data/episode123.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba47a9de6caad7c4dde7d77626fcf53ff2ff5b3b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode123.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c2a69c601dea38b8787cdb4541dc3792718f939cf82466ae6487ee4219c9ed
+size 26382508
diff --git a/hanging_mug/franka_randomized_500/data/episode124.hdf5 b/hanging_mug/franka_randomized_500/data/episode124.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..49d2677b3963873d7d80bab27bbb1a927c43f503
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode124.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d170fc61ce6741a7e530f51e3b832889b77c408f36ea3ddbc9127d9d3caa1c54
+size 17295964
diff --git a/hanging_mug/franka_randomized_500/data/episode125.hdf5 b/hanging_mug/franka_randomized_500/data/episode125.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a8964d0cf4824dc125edd28ad45bf8eeb9dd5a77
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode125.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf3beb694bf13672981a669cdf205460d54f7c45ef35c3b7687e7eebdb4161c
+size 26575002
diff --git a/hanging_mug/franka_randomized_500/data/episode126.hdf5 b/hanging_mug/franka_randomized_500/data/episode126.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45927578139a07751711c9a38e56fdd566e21e46
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode126.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c4a4b5e6e89d9260ca39f10e4370f2c87c145f7b80ee182ec521967875c792
+size 21249293
diff --git a/hanging_mug/franka_randomized_500/data/episode127.hdf5 b/hanging_mug/franka_randomized_500/data/episode127.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5a10bad21a42cbfaf403a717096580169e69e95f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode127.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c8f1a904c97f611b8f8d2e95b67027e18802d80db00eaa10d10052309c530e
+size 21265222
diff --git a/hanging_mug/franka_randomized_500/data/episode128.hdf5 b/hanging_mug/franka_randomized_500/data/episode128.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5fb9b950afaa75b7b95c6a967a4c7597c616718c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode128.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011e2712a77a123e786c71b1fb05ca78d0d2647e3b3598123810aee1acfa9c77
+size 19666922
diff --git a/hanging_mug/franka_randomized_500/data/episode13.hdf5 b/hanging_mug/franka_randomized_500/data/episode13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..75ac573e8ed0ca47778b400b0e37fa2e41827c20
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bd7591265651393e8c851cb4cc6b627ced1ebdfad040adafd0297f9d9b8390
+size 18085372
diff --git a/hanging_mug/franka_randomized_500/data/episode131.hdf5 b/hanging_mug/franka_randomized_500/data/episode131.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8ccba0834388dc67f3ae99111f7f6fdd34cbef1d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode131.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f3dd9525b3404fb8325abb6995081bc73a156c29fd3032b3d8215f0baecbc3
+size 19263056
diff --git a/hanging_mug/franka_randomized_500/data/episode133.hdf5 b/hanging_mug/franka_randomized_500/data/episode133.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..236db894b3071ba71c372f45e5d3fd2b6436793d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode133.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e8bff358141c773244044b18e2a7c500f307ff8b3a13f7e12b43b6078a9ab14
+size 26186198
diff --git a/hanging_mug/franka_randomized_500/data/episode134.hdf5 b/hanging_mug/franka_randomized_500/data/episode134.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4727900b127a6b619413e6321e419f802bc88346
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode134.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52b28034455b050d875da355a16c523a4ccbf164850f7e7dbdd4c98080f04bde
+size 23391710
diff --git a/hanging_mug/franka_randomized_500/data/episode135.hdf5 b/hanging_mug/franka_randomized_500/data/episode135.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..482af1d3067bfe2b5b9cf93517b85987b439fd2b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode135.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80598342d94b63dff603214fb7c359c71799a03a97af3022221235a94862ff4b
+size 16888517
diff --git a/hanging_mug/franka_randomized_500/data/episode136.hdf5 b/hanging_mug/franka_randomized_500/data/episode136.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..786526ed336a4ef0efa5c8179f349058b94e349f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode136.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4397618931017d6f1f9b89bcad0839e6c6ee10db245404fab7c6a5222ee55598
+size 19822878
diff --git a/hanging_mug/franka_randomized_500/data/episode141.hdf5 b/hanging_mug/franka_randomized_500/data/episode141.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8c6348f4c90d634f10dad70f81b0856f87fed0e0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode141.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19278cfc8ffe3b997f3826e80ef29bc7515fe61c49ec2b629fe4d43e720ee50
+size 20956032
diff --git a/hanging_mug/franka_randomized_500/data/episode144.hdf5 b/hanging_mug/franka_randomized_500/data/episode144.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7b6d0c9578fc770bc1e43783219d46feeb5079fd
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode144.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d235dca5a2766da1e94a53e71ecd3dcfd6fc50d228bb38badfe5fd8b7a3470cc
+size 21695080
diff --git a/hanging_mug/franka_randomized_500/data/episode147.hdf5 b/hanging_mug/franka_randomized_500/data/episode147.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6d4dc587f48bea6eb4168ebb63bc8053031da917
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode147.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6afb1b5d6652ed7886f060de5855da8974588aba0502bdbf22db6bbe557ef0d7
+size 16877052
diff --git a/hanging_mug/franka_randomized_500/data/episode152.hdf5 b/hanging_mug/franka_randomized_500/data/episode152.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b7793fa6858eb0740d596da29bb47080faecf9dd
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode152.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3645050cfea8711110c0735ed15e783e4326c658ccb034f18235a39505511b1e
+size 17982615
diff --git a/hanging_mug/franka_randomized_500/data/episode153.hdf5 b/hanging_mug/franka_randomized_500/data/episode153.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a65b06c64e6c4fec6be603dba3648b0645a26062
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode153.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abfbc8f7db4e3159345a3cc373dab1e0547e9142cc09f36be820f009c0b336cb
+size 26945963
diff --git a/hanging_mug/franka_randomized_500/data/episode158.hdf5 b/hanging_mug/franka_randomized_500/data/episode158.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..20b3d263cceed8c4da13dfa60ee4738012467949
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode158.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1723d5706324f7d1580c20fd4a8e4518ceaad7a838affc287a3cf536b407588
+size 16555292
diff --git a/hanging_mug/franka_randomized_500/data/episode161.hdf5 b/hanging_mug/franka_randomized_500/data/episode161.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c54b04f6c3e204109bdd9b9ced48f21dcc27dc4d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode161.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc080019f72599477a29e785e2dc3fa98bdf684a62d30aad8340762afab52e1e
+size 19963416
diff --git a/hanging_mug/franka_randomized_500/data/episode162.hdf5 b/hanging_mug/franka_randomized_500/data/episode162.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6040c19872df595ac13722b298771cfe45353e32
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode162.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77daac866548f8bf1e78221586920b8dd17544908a1d7e14f402b05a1f2607c
+size 21456032
diff --git a/hanging_mug/franka_randomized_500/data/episode163.hdf5 b/hanging_mug/franka_randomized_500/data/episode163.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c5cdd783833ef476749312e4dcc97b11951c27d8
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode163.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdf83f21c59938a029d8e5dbb6dbfa1b98d3c4e891fa3d8327e2498aeb4a45c
+size 25449866
diff --git a/hanging_mug/franka_randomized_500/data/episode165.hdf5 b/hanging_mug/franka_randomized_500/data/episode165.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..185035fdd05b400a6fcbc48b45cc300d68131fb6
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode165.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767b7f87f1fe28d0b7667e08231b6ad9f3b3ee66b75bb5ccd1f5aac3a3fed9a9
+size 23656976
diff --git a/hanging_mug/franka_randomized_500/data/episode166.hdf5 b/hanging_mug/franka_randomized_500/data/episode166.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b925bc78cc38fa0f3f89acb928273e4d16141df1
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode166.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183ca55c186a9521d684f07ed232e5d7c9f4ce394e168bf4c38a8940e8040eb0
+size 26765288
diff --git a/hanging_mug/franka_randomized_500/data/episode167.hdf5 b/hanging_mug/franka_randomized_500/data/episode167.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..659d11fa53ca314e7989b250e245d255a052d1b1
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode167.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f039a008cee5caccc1decfe0a22aece7f9ae864dc01c7514849d17fccc3862a
+size 22156832
diff --git a/hanging_mug/franka_randomized_500/data/episode168.hdf5 b/hanging_mug/franka_randomized_500/data/episode168.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..76d9f83d8ece39619c7ff4a3856f1a2ca5782019
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode168.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c96a859d7233d89614f6e5ca307da80e6a9630f7d234b9bdccc8338e5679473
+size 28131914
diff --git a/hanging_mug/franka_randomized_500/data/episode17.hdf5 b/hanging_mug/franka_randomized_500/data/episode17.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cb6215ede18fc564fe1cc635a76de37ecc099283
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode17.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bba17cf0120a518510e3cb30f6fa2fb4afe10f0178edc395916e5adcda64f2c
+size 23318548
diff --git a/hanging_mug/franka_randomized_500/data/episode171.hdf5 b/hanging_mug/franka_randomized_500/data/episode171.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e331e9543c3a459331cffcaa3f53004668708416
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode171.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbdcc7bad50e95cb88f077f478e2aa719cfb801a548a61d80897a335512a588
+size 19396916
diff --git a/hanging_mug/franka_randomized_500/data/episode173.hdf5 b/hanging_mug/franka_randomized_500/data/episode173.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e200b84494346ef1312f1422a8603c147d50cf3c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode173.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ba5b6484a426d3779f9ac0196f6fe89543f6e70e7b062a90c6a6f1bfac191c5
+size 16616622
diff --git a/hanging_mug/franka_randomized_500/data/episode174.hdf5 b/hanging_mug/franka_randomized_500/data/episode174.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..69ee619bc6d87c0760ea82b4e022a54ed881b662
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode174.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81b17de68cf6917b23c0feaba1acb8ef96807bac71b4efaf6fb4bed36b5d6d5
+size 16634710
diff --git a/hanging_mug/franka_randomized_500/data/episode177.hdf5 b/hanging_mug/franka_randomized_500/data/episode177.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4855036ed5b4bb28ab03a3d65ccf1d5983680481
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode177.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428762b8d31b9bb8bff064f8a3d392e306459e06daad185a4b0316458f5f35a5
+size 19480582
diff --git a/hanging_mug/franka_randomized_500/data/episode179.hdf5 b/hanging_mug/franka_randomized_500/data/episode179.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4544e1694699b0ca000ff8ae07bb5cdb870e7356
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode179.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c989e2c6aaa06507090ca1b7eec033f3d4beec14165da747b4c4a8bfb0d4f3
+size 18682634
diff --git a/hanging_mug/franka_randomized_500/data/episode180.hdf5 b/hanging_mug/franka_randomized_500/data/episode180.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..92b4ad222b1e069e8d49b96a33991a19f90d6576
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode180.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464c78ff6665b3fcfa04535ce01f66f0b764aac336d7fa4982294212280fb88a
+size 19674277
diff --git a/hanging_mug/franka_randomized_500/data/episode184.hdf5 b/hanging_mug/franka_randomized_500/data/episode184.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dbc8d36f66408d1a3c230e3435938fb869781b16
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode184.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded1d6df83bfaf909fcf10c42617aa6cffe77dba438707de70f270d85bbac044
+size 18564320
diff --git a/hanging_mug/franka_randomized_500/data/episode185.hdf5 b/hanging_mug/franka_randomized_500/data/episode185.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..037b206941150ed683a4e3ea11499c359f55aabe
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode185.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c25f253ed6313110204f5196e03fe11178b610b65d48626f2c46c147be092162
+size 20999938
diff --git a/hanging_mug/franka_randomized_500/data/episode186.hdf5 b/hanging_mug/franka_randomized_500/data/episode186.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9d93aaaa7f644d1d196eb2314c02a6b82a00a03c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode186.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d8c83ec8042dc4aad7f5b013fcba8a1d275c866d56d6fc3838d6244b36daa3
+size 20282024
diff --git a/hanging_mug/franka_randomized_500/data/episode189.hdf5 b/hanging_mug/franka_randomized_500/data/episode189.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b2705ab4ff945e5ffe199c93720e74a02aa248cf
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode189.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df10cf634ccf23aae9b0d39d5f03df0cbf37acc7b49ef783b55af7e310fa348
+size 16894669
diff --git a/hanging_mug/franka_randomized_500/data/episode19.hdf5 b/hanging_mug/franka_randomized_500/data/episode19.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d69424a91110fb7138d9dcdcca7a3b698cbdf521
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode19.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d46fbec01a07fcde11f01b4fcf76f08be727c8f336dfb0a9276e47d87c1aa948
+size 20090345
diff --git a/hanging_mug/franka_randomized_500/data/episode191.hdf5 b/hanging_mug/franka_randomized_500/data/episode191.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..85a29eebe400b87ecf161079455740fd2ab2fd5e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode191.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4522e982016c8b9791410c0378097ffef8cf6b8d09cf217fb254d5569855b8d4
+size 19125622
diff --git a/hanging_mug/franka_randomized_500/data/episode193.hdf5 b/hanging_mug/franka_randomized_500/data/episode193.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..58ddefac70b716df682d7660048ce25e5bbf34dc
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode193.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7274f5956a4c91b5f6d4adfa524956bebf5acb00f3d3ce9315cc03eedc48030f
+size 20143224
diff --git a/hanging_mug/franka_randomized_500/data/episode194.hdf5 b/hanging_mug/franka_randomized_500/data/episode194.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3f53d2eb3032c5efb0bc4c36ffbd2d602c24fdc7
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode194.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20f3f9d2734c5b932a2d76423345a793ca45d0e69d9321e787eefac5187c56a3
+size 16568917
diff --git a/hanging_mug/franka_randomized_500/data/episode195.hdf5 b/hanging_mug/franka_randomized_500/data/episode195.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ed0604226bbea6a9193bce1c34db196dbc74d581
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode195.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f35c166a179fee756d678ef7375ef821648a65c1e8f81d45c44bc43b386a015
+size 22835300
diff --git a/hanging_mug/franka_randomized_500/data/episode196.hdf5 b/hanging_mug/franka_randomized_500/data/episode196.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..99a3a2201c9f433ff21de7d330f4b1fbebce4180
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode196.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28e92812c19ce72259570eae5b0918ede4c836220f213e8c7e28653ae049d3a
+size 19448312
diff --git a/hanging_mug/franka_randomized_500/data/episode2.hdf5 b/hanging_mug/franka_randomized_500/data/episode2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6e82fe015f669632f89de66aa2cb64c0808bb2e7
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01211f1d50f5b7ff7c049ef205d35047b2d90003a0f34847a447981b6a511c4
+size 19261550
diff --git a/hanging_mug/franka_randomized_500/data/episode206.hdf5 b/hanging_mug/franka_randomized_500/data/episode206.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c629fa0ad4231c2f9c6ec32935c876bb16354a04
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode206.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f26a0d17a968955101c2298c70f396a847f5341f1e146d6665845e4a4daef81a
+size 22604222
diff --git a/hanging_mug/franka_randomized_500/data/episode21.hdf5 b/hanging_mug/franka_randomized_500/data/episode21.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6f63d2dc363136723956bb4379e3a49ba0f07077
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode21.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b75ffdfb1809c8da6ecb2a4418faf241826e8d271c3acdb88f9f03a461b86d6
+size 16702670
diff --git a/hanging_mug/franka_randomized_500/data/episode216.hdf5 b/hanging_mug/franka_randomized_500/data/episode216.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..51586644853fb90eb61a692226488c9f0ef3c764
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode216.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d28176f08b73c4b17d9d335a647712ccae3be83b36c81c5d9fd9836f2e03883
+size 18065694
diff --git a/hanging_mug/franka_randomized_500/data/episode217.hdf5 b/hanging_mug/franka_randomized_500/data/episode217.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ed9db4d5ab55625d4ba06975ee2308fac814fded
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode217.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1ba4704d44238f549bd8a3e8f5da41e1849a92c41b0becc6be5612914b07a4
+size 28975277
diff --git a/hanging_mug/franka_randomized_500/data/episode218.hdf5 b/hanging_mug/franka_randomized_500/data/episode218.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..60803bc93ad7a10f0a7b7a8f72f9915b82781385
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode218.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7505c5001a2d67eb729de807760c3e3fafb070ca5e4bcab0b841c3b966d3702
+size 19784072
diff --git a/hanging_mug/franka_randomized_500/data/episode219.hdf5 b/hanging_mug/franka_randomized_500/data/episode219.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f7612b3753c954ee77c79f790581570ef682e236
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode219.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b16f4eff1a2cbc02115be7dbfa161fc7078f26179739278379fef696f485332
+size 26201902
diff --git a/hanging_mug/franka_randomized_500/data/episode22.hdf5 b/hanging_mug/franka_randomized_500/data/episode22.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2134b656ce3d836a80983076b7bd40a2be7d9c03
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode22.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49609959b69010b6c3a74b2cf94d67527355234d6e308db933cae80acbebead9
+size 19541234
diff --git a/hanging_mug/franka_randomized_500/data/episode229.hdf5 b/hanging_mug/franka_randomized_500/data/episode229.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fc1cc4742b8b086c0d4049e55b94399ebc1e2654
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode229.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ce58736bd2fcfe2f19746572609d81e81ad2ebbdf99eafd70a757df8264ab7
+size 22584340
diff --git a/hanging_mug/franka_randomized_500/data/episode24.hdf5 b/hanging_mug/franka_randomized_500/data/episode24.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..475910724f27b57c12264a3e409880e5140d9412
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode24.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a99700596735074ab69c6b7a8f99a0487505ca4f7418af5e3c9ee15a86cafda
+size 24509502
diff --git a/hanging_mug/franka_randomized_500/data/episode241.hdf5 b/hanging_mug/franka_randomized_500/data/episode241.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd821683c565a8e003c877b7ea45e004ac2b20a1
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode241.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e088456b9666bae373fc9951067270d2268045ccb96502ebc1d43dbdce40c3f0
+size 20376622
diff --git a/hanging_mug/franka_randomized_500/data/episode242.hdf5 b/hanging_mug/franka_randomized_500/data/episode242.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..301fea37328ba99c576e4f53f01b6027707b81a9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode242.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785474f335d0c3a6ab0950ab6fde5440dd465491f8132a386f16aaa2abe4c86b
+size 17506910
diff --git a/hanging_mug/franka_randomized_500/data/episode247.hdf5 b/hanging_mug/franka_randomized_500/data/episode247.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9be9c11e7cd482dd3680b40417903dcbb5c31821
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode247.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd63aec1dcd06a51c4a7fd7c6f620451e817ac239d6c789e26d43399f2b88bb
+size 19510163
diff --git a/hanging_mug/franka_randomized_500/data/episode248.hdf5 b/hanging_mug/franka_randomized_500/data/episode248.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2ea90a8171cb0975176759b06ed8f65c594551c7
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode248.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f2713eaee25d44297e6671b3fc329ef1daf88acf98421f6b6d9176901d6998
+size 22025894
diff --git a/hanging_mug/franka_randomized_500/data/episode250.hdf5 b/hanging_mug/franka_randomized_500/data/episode250.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..50d7dc0543b08abcb0ae375d0a746a47cf98b2f4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode250.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227ce4d52666bdcfb231ffd7257949570f581eb472bc538367d67f7f697abcf6
+size 20393252
diff --git a/hanging_mug/franka_randomized_500/data/episode253.hdf5 b/hanging_mug/franka_randomized_500/data/episode253.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d101747d5670d4e214b778d63bb3769cf3e72d5d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode253.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75241a03f5b41449ea044dd5909d7a485636996d37112fb947dfd894fe14c00
+size 18758158
diff --git a/hanging_mug/franka_randomized_500/data/episode257.hdf5 b/hanging_mug/franka_randomized_500/data/episode257.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c1e8cd617b48e19f40813793f03d8a9bae848e9b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode257.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:368f08abf951449eb9fe989ce9e17a02b956c646f3a5a2b7cd5ee497615918f4
+size 18925252
diff --git a/hanging_mug/franka_randomized_500/data/episode26.hdf5 b/hanging_mug/franka_randomized_500/data/episode26.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1ac0fb11f63ac986ec668a3bc5337d638f59a6c3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode26.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80ff777a05d7cb470a30be4cff1da4ca122817b8071a701becd2caf346e40d8
+size 19086692
diff --git a/hanging_mug/franka_randomized_500/data/episode261.hdf5 b/hanging_mug/franka_randomized_500/data/episode261.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..781d0039bb8fe2dcbde2affe2cb284bfb0c1b522
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode261.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d216197640faaf4ef609858e38986b1798a1de407356a689e8709ba20b5a62
+size 18219248
diff --git a/hanging_mug/franka_randomized_500/data/episode265.hdf5 b/hanging_mug/franka_randomized_500/data/episode265.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a792a26e6fe466c27237208ba7bb1848042cb6c4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode265.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3efa55d059c7eacdd07195adf7f0c0526a8afbb64df1cc87942354da907b8a
+size 21478304
diff --git a/hanging_mug/franka_randomized_500/data/episode266.hdf5 b/hanging_mug/franka_randomized_500/data/episode266.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c2aae0bbbc170dec0c8702dee033a98dad17ca2f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode266.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd48fe6d5557818cc4ef7afd20df6b366115c51f2656f4025d02d939df63eb9d
+size 19065436
diff --git a/hanging_mug/franka_randomized_500/data/episode269.hdf5 b/hanging_mug/franka_randomized_500/data/episode269.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..38d4452a50f0f272b7579b4bfa93e216c9122019
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode269.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6fe5b03875bf5c738eae3bea66a89c6c27867b192ac6d12842fcd873b4cf177
+size 17427692
diff --git a/hanging_mug/franka_randomized_500/data/episode27.hdf5 b/hanging_mug/franka_randomized_500/data/episode27.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ebdb87828742aea4765ab89f4c643a6504a3e11c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode27.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a5044903213edbbd53a43f59f29c33b1cd028bd9619140e5808b843d57dee2
+size 28199744
diff --git a/hanging_mug/franka_randomized_500/data/episode271.hdf5 b/hanging_mug/franka_randomized_500/data/episode271.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..65856e9de0c228aa78db8ff6b77be570577e2124
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode271.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ada2692fb03e031df6b70b404b1c854c174ea42785695afc86c7a24a5dfaa7
+size 22623456
diff --git a/hanging_mug/franka_randomized_500/data/episode272.hdf5 b/hanging_mug/franka_randomized_500/data/episode272.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7e3c3150cc91bd3033506c9cf8ba29585497714e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode272.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b253035bc894e52c96175839b0be31174b4eb535fbd4a7cfc12d6f9bb6ab87
+size 17747486
diff --git a/hanging_mug/franka_randomized_500/data/episode273.hdf5 b/hanging_mug/franka_randomized_500/data/episode273.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..78facd167578e459cd7a413a643bd0693f4ea788
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode273.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5517702372f0c5c6d677469e49f8bfe3d70447c6f714fc26e3cd71841053e0a6
+size 18995152
diff --git a/hanging_mug/franka_randomized_500/data/episode275.hdf5 b/hanging_mug/franka_randomized_500/data/episode275.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8a773c24d2c370509fdb53949d91816a5de95ed8
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode275.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82998ec02f13f14c8b84c898c98d3852ad8b56631a0203a0cd1ce688984ad4d6
+size 26090882
diff --git a/hanging_mug/franka_randomized_500/data/episode279.hdf5 b/hanging_mug/franka_randomized_500/data/episode279.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..24bbd616e9a644093165a7be46bb5bcbf5d6f21f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode279.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c642a95918e5558f00edee337ef8ec729394c636eefb6fc9e8062504cde9627
+size 18783203
diff --git a/hanging_mug/franka_randomized_500/data/episode28.hdf5 b/hanging_mug/franka_randomized_500/data/episode28.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7315d76309320fdc65c6c8e937672e44d55556c1
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode28.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83baaa6a49559b3527135ff0398a23e2aaa853f66f82bfbc3d75ef670c7d53e
+size 18769492
diff --git a/hanging_mug/franka_randomized_500/data/episode283.hdf5 b/hanging_mug/franka_randomized_500/data/episode283.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f7ec4ff5b4adb42d343f21e595cce9275a0bb08f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode283.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0132ec95c0a35648f924ca0e1cd47eb9b7b3a26913bf06970271cd2fec4ba6f5
+size 23212775
diff --git a/hanging_mug/franka_randomized_500/data/episode286.hdf5 b/hanging_mug/franka_randomized_500/data/episode286.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d14865082a25c66d866722c83cf4e6f873afe09c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode286.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97dfdd54ffd937ceffc85ff48e4d5dc4535802c7750d31aec6470acd1b0384e
+size 24785604
diff --git a/hanging_mug/franka_randomized_500/data/episode288.hdf5 b/hanging_mug/franka_randomized_500/data/episode288.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c4f747eae89c3ea26843f99d83e9217d79d1986
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode288.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3de94197d5d1af6bbf08b8a57712a53e952d99b88abd172f86494a3f14d57fe
+size 18179372
diff --git a/hanging_mug/franka_randomized_500/data/episode29.hdf5 b/hanging_mug/franka_randomized_500/data/episode29.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..555b1a20d7e8125e06fab5f8137049f97c73aec0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode29.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1f9c5fa727545f15b06216c8211a362b31eddaf7eacb55cc522be68bb171c6
+size 15188622
diff --git a/hanging_mug/franka_randomized_500/data/episode294.hdf5 b/hanging_mug/franka_randomized_500/data/episode294.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6ad5fd57c2a986ef37226c5c758b17ecd4eecb55
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode294.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0665f3dcaa66a774934998310d908bf8e76320df372df6759d59d6d31beaa8
+size 24696914
diff --git a/hanging_mug/franka_randomized_500/data/episode295.hdf5 b/hanging_mug/franka_randomized_500/data/episode295.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..22fdfe15fc679233d96a259325c7ae2e832f3cba
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode295.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45b5dc841ccc108741fceea3fac07f4d96e87d5c7756f1de5a30a7cae8956e3
+size 17025716
diff --git a/hanging_mug/franka_randomized_500/data/episode299.hdf5 b/hanging_mug/franka_randomized_500/data/episode299.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a85e57c14f7108ba60d34cdbcbee8f7124c26135
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode299.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4349c37861fcdc149acffcfdc7c3ed9b3896e06253008cd494fe94dc8d48ee5b
+size 18903908
diff --git a/hanging_mug/franka_randomized_500/data/episode301.hdf5 b/hanging_mug/franka_randomized_500/data/episode301.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..38f1759b619418f4132761bd5091a42fbee974df
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode301.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0187e96d409d58000c4d8e252c64469936083efa38bf2222fa677113a91d6be
+size 17547836
diff --git a/hanging_mug/franka_randomized_500/data/episode303.hdf5 b/hanging_mug/franka_randomized_500/data/episode303.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c2d7c6d90ed12d7b4d5896dcde23359f5b2317a9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode303.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcf4bced87e0896b4277781b844be3b069ea67aadade30a8e0a21f45754889d
+size 22593074
diff --git a/hanging_mug/franka_randomized_500/data/episode305.hdf5 b/hanging_mug/franka_randomized_500/data/episode305.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..51823edba251760ad6374d83a3e21611ed070c26
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode305.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0505b6577db1858c0f260c702abb15fee0fed05b3f9808daaa52bf05be66b9e3
+size 18319160
diff --git a/hanging_mug/franka_randomized_500/data/episode310.hdf5 b/hanging_mug/franka_randomized_500/data/episode310.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f06e39f5850a8b1efc6d457939c42de0f6d07b05
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode310.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ce12bc2afd20e0ffdf7fe2f33470affc35aceb8fcdc9ddcedb498901cd2e40
+size 18741602
diff --git a/hanging_mug/franka_randomized_500/data/episode312.hdf5 b/hanging_mug/franka_randomized_500/data/episode312.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..10119001d72c197cab3a3e9426b45d5640731851
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode312.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15841bb18e4e2d1c31d94a875a135e485f02181d185d416706f2e782c9ea3e18
+size 19449320
diff --git a/hanging_mug/franka_randomized_500/data/episode313.hdf5 b/hanging_mug/franka_randomized_500/data/episode313.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d9721d0bb13c80b25d1c31087f418e665a956d32
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode313.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d51a6e8ec5350d976f2503c7cb67ef693f16bf9aa5e6aeb66f64dde545727344
+size 18668567
diff --git a/hanging_mug/franka_randomized_500/data/episode314.hdf5 b/hanging_mug/franka_randomized_500/data/episode314.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..61843aa537829fc5096cb7773540ed989c84d375
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode314.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f75361e3fdbb0dc128a1bb104f582b9eeeb70a9fd44b55cd408e9928634372d
+size 20094272
diff --git a/hanging_mug/franka_randomized_500/data/episode316.hdf5 b/hanging_mug/franka_randomized_500/data/episode316.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7b70c9e37b10ba418315062fbb3399341323fca0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode316.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9329a3b4d7cdf35462ee1375d59e43b2145c25e970c71ddbddacb05139bebc6
+size 20202406
diff --git a/hanging_mug/franka_randomized_500/data/episode322.hdf5 b/hanging_mug/franka_randomized_500/data/episode322.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b9326c8b52fe295eba5b58709a111298db595082
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode322.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7affce0a0c94e4296fdc9e7a63a51b417d10efee82c91f50ab7e0f31cf6114ef
+size 19049921
diff --git a/hanging_mug/franka_randomized_500/data/episode327.hdf5 b/hanging_mug/franka_randomized_500/data/episode327.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..df6faddca42282d22d4b8f3596b185b437845c3e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode327.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05fe77becfaf3787cecdd698c8fc48e7a592685a8580ccce75b7f92672bc8cfc
+size 26778692
diff --git a/hanging_mug/franka_randomized_500/data/episode329.hdf5 b/hanging_mug/franka_randomized_500/data/episode329.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..71c726b200d0149c7ddbf4fc561945fc1129fba6
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode329.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a50159d54d282d070f22c921e950696d1fedda219e6fda8766bb4ccd91a1ade
+size 17508780
diff --git a/hanging_mug/franka_randomized_500/data/episode330.hdf5 b/hanging_mug/franka_randomized_500/data/episode330.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..210258d789f3eada66ec07a7166064f843414145
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode330.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa930d82768fab767d08bfc1a05832326d49e18670e4fe4c8e4dbaff23512c91
+size 18741836
diff --git a/hanging_mug/franka_randomized_500/data/episode332.hdf5 b/hanging_mug/franka_randomized_500/data/episode332.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1293851290535749d4b4b7066917ca952d08aac0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode332.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b7720cc7002e7fc896012216b8e6547fc3a27662f7f103d9f7d17bc7f79dbb
+size 17312507
diff --git a/hanging_mug/franka_randomized_500/data/episode335.hdf5 b/hanging_mug/franka_randomized_500/data/episode335.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a2e09400000861f274c65e8082fc98b6f4fb4294
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode335.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c88ab33e59698b27736c808ef1f64b404cafe67cafb93a81b56f86bfa3bc5cf
+size 19665224
diff --git a/hanging_mug/franka_randomized_500/data/episode337.hdf5 b/hanging_mug/franka_randomized_500/data/episode337.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..edda000115ab6cf45cd77e70e9f23c2ddf0b164e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode337.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b61bf7796facc3cf18329c36b996d18395a4e0f4f86a452b102fbee254a546a
+size 17252393
diff --git a/hanging_mug/franka_randomized_500/data/episode339.hdf5 b/hanging_mug/franka_randomized_500/data/episode339.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9863747e120271d8100760ce59c3a2864a5a0452
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode339.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31072d343325332a76f5318421a0d9ca8943708314ef68774fe0c0ec15d0ad57
+size 17887672
diff --git a/hanging_mug/franka_randomized_500/data/episode343.hdf5 b/hanging_mug/franka_randomized_500/data/episode343.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a26894123cc547b53f8b58bb7e676a32320fc1a5
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode343.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ebadcd5f071228682cd2557fe4c22a932608990c810bdc75b50aeaa612cfb4
+size 20148641
diff --git a/hanging_mug/franka_randomized_500/data/episode344.hdf5 b/hanging_mug/franka_randomized_500/data/episode344.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c42cdc9089b96c0cd20c0f7f76c0f6a9b06be33b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode344.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bb30506caebbcfd1d77c6affbfb38aeff5b33d843cf5133b5412427f1408ab
+size 23407902
diff --git a/hanging_mug/franka_randomized_500/data/episode345.hdf5 b/hanging_mug/franka_randomized_500/data/episode345.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..44c41710302e5b2c8482dfbb06573f16f16bcb66
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode345.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139eab6ada1398ed774e39fdcc2c88dde7fcf1090602a454e84ff155a0409b9e
+size 17845184
diff --git a/hanging_mug/franka_randomized_500/data/episode346.hdf5 b/hanging_mug/franka_randomized_500/data/episode346.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..948dcc8cb3e02f8069caa508e5ae7e1e2722a4b8
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode346.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d24561a8905057fa26d2d29fea1d53c882265d2f8cdd4362189ddf6afcafbf
+size 19247117
diff --git a/hanging_mug/franka_randomized_500/data/episode348.hdf5 b/hanging_mug/franka_randomized_500/data/episode348.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6694eebe1b74782ac56be415502b4252460f690f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode348.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e55c3742f5511afb11e831942e78ec3c1e3b5ed5e8de2fb86183e60c020c8ad
+size 24203024
diff --git a/hanging_mug/franka_randomized_500/data/episode349.hdf5 b/hanging_mug/franka_randomized_500/data/episode349.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72bee34c45b5fe78d861ef6faffb54ef2d65fbb1
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode349.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f977ad7b8aa7026debe67df6ef22c163c267a8f7e44500509ebf23976b2a92b3
+size 17880008
diff --git a/hanging_mug/franka_randomized_500/data/episode35.hdf5 b/hanging_mug/franka_randomized_500/data/episode35.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c3054f0885018efcf76d3e3af964bb3518e4a160
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode35.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafa0b485c090d8b38eff976dd9c5cb46eae6ed2267fb5af5a384ca780b172e9
+size 19123841
diff --git a/hanging_mug/franka_randomized_500/data/episode352.hdf5 b/hanging_mug/franka_randomized_500/data/episode352.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd3e19a5a2a3ccd22048407fe7abae63c15c74bb
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode352.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63d862dddab3601267142e2dc696964cd176bd23bdf8dc750ccd258c723dd6e
+size 18072348
diff --git a/hanging_mug/franka_randomized_500/data/episode353.hdf5 b/hanging_mug/franka_randomized_500/data/episode353.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..90d34178e77eb525bbfdcd34081fd94db28056de
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode353.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001e603657614b73d9e5f59c41210a0469953c24810533f27de400ad869eb775
+size 18554195
diff --git a/hanging_mug/franka_randomized_500/data/episode359.hdf5 b/hanging_mug/franka_randomized_500/data/episode359.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..269c4a82a544a702b35d0c63a54d4b7e5a6f33f0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode359.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b2789cd05e7207e3bcc8516864b00f353f64cd30d4d7f1109ce633c67881db
+size 26115922
diff --git a/hanging_mug/franka_randomized_500/data/episode361.hdf5 b/hanging_mug/franka_randomized_500/data/episode361.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d481221a66522e3dd8f1bc875fd3d927047aa524
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode361.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f42251028c9335297349562ec8472c83f80c497e453564ce06720d1e57b71f
+size 25445966
diff --git a/hanging_mug/franka_randomized_500/data/episode362.hdf5 b/hanging_mug/franka_randomized_500/data/episode362.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ceb72ca5fcd2eee4ec3eda371917afd7fede46e4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode362.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325900ff1605ed8ffe6b3d6fadab6a9a7d45c8edcfee7358df6e71ee77fbbb7a
+size 28913852
diff --git a/hanging_mug/franka_randomized_500/data/episode363.hdf5 b/hanging_mug/franka_randomized_500/data/episode363.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2eb5ef02a79d4f3b058a6f3b5faa954abaf7d6e9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode363.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d3c32e8b8ffa631fdeca760a1f815d6c2f630c658ffac3cc0cdce25f278f88
+size 21421604
diff --git a/hanging_mug/franka_randomized_500/data/episode37.hdf5 b/hanging_mug/franka_randomized_500/data/episode37.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1d264d5ef082fd78d2bcc5d4e0096d60f6de3842
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode37.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d625728435227914a5089671fcbfa1c2e525cde22d6998794f795917d68b63
+size 17139713
diff --git a/hanging_mug/franka_randomized_500/data/episode374.hdf5 b/hanging_mug/franka_randomized_500/data/episode374.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b1499b16b0cd584cf1f19ea9d4b9be6ad9fee31a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode374.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaff4e2be171d80f724990065e301475d44a1708f80c3e1246222d1dca11b825
+size 21535019
diff --git a/hanging_mug/franka_randomized_500/data/episode375.hdf5 b/hanging_mug/franka_randomized_500/data/episode375.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9b23472e4f2ecc16e3c8d957d73ca94b1255e5f9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode375.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a91594b66a0db16e06f973ab31a23bb541511df0e96b835aac01db444942b61d
+size 19553852
diff --git a/hanging_mug/franka_randomized_500/data/episode376.hdf5 b/hanging_mug/franka_randomized_500/data/episode376.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e0a513cc207e61f54699a7595e47b9d7b6688b04
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode376.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2127eba9b660d808761ad328f3625ff9150beb599030ae3cfea29247e77ea1d7
+size 22425840
diff --git a/hanging_mug/franka_randomized_500/data/episode377.hdf5 b/hanging_mug/franka_randomized_500/data/episode377.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f9d4b7f12b923a1535ce5418e7d58d3b3c704162
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode377.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddba19ef8110fb1ab050423f026059ef3aa49bddea8cf5fd138372014f277da
+size 19196936
diff --git a/hanging_mug/franka_randomized_500/data/episode383.hdf5 b/hanging_mug/franka_randomized_500/data/episode383.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..96b62d47ab90b8d7a44e1a6416ae387e65f4fbde
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode383.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b9d5d414aba67424da441fc8f040fc053e53c1920ddba124a5c5735b8edb4a
+size 18620492
diff --git a/hanging_mug/franka_randomized_500/data/episode384.hdf5 b/hanging_mug/franka_randomized_500/data/episode384.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0fc8833544ca1a2c7905ec2f8b7a9d8e0f5665a0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode384.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27de3635991893de7b86ea30cd5db0e1ceb33d61676d783c4ccb4a5764ebb812
+size 20320037
diff --git a/hanging_mug/franka_randomized_500/data/episode385.hdf5 b/hanging_mug/franka_randomized_500/data/episode385.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d03a4e08c962779aebdd0e0919e04db0ba654882
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode385.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feea9e1be99cd0cae38458642dfed1eaa777f18ba7867406ec7dfd8932827477
+size 25232824
diff --git a/hanging_mug/franka_randomized_500/data/episode386.hdf5 b/hanging_mug/franka_randomized_500/data/episode386.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3675d1095f947a24b4dfda16f9acb460f403d78a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode386.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25e8dc85bc26d9fcf5ebc12eee00812919eaaa569a6560c1fbffbb31bea36ac
+size 18505688
diff --git a/hanging_mug/franka_randomized_500/data/episode387.hdf5 b/hanging_mug/franka_randomized_500/data/episode387.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..50bb1a5ab7641001ebb4e4cf8e381a3935dbb45e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode387.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b5606d3baf8ec9ff12ec24f117ac17788b847d04730090cfbe8b6cad0e2170
+size 19654679
diff --git a/hanging_mug/franka_randomized_500/data/episode394.hdf5 b/hanging_mug/franka_randomized_500/data/episode394.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4126d4d99e7a7a14ded079a9afa9278e75e81da4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode394.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21b85d22fb90c992484fd2665f743a569c115c74ce47b37a9631f6fa3135341
+size 18390831
diff --git a/hanging_mug/franka_randomized_500/data/episode396.hdf5 b/hanging_mug/franka_randomized_500/data/episode396.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..67ba36917596260dc2407ff56551823f85a51bfe
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode396.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37f41f26088afbcf2b064a07d69ffe32e72f07c99f8bd8a03a48a854d34aee7
+size 16737156
diff --git a/hanging_mug/franka_randomized_500/data/episode397.hdf5 b/hanging_mug/franka_randomized_500/data/episode397.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a8e35ce960ac1c305e0381228632b9e086ad7638
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode397.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189349339d13927d60dd2d85c2adc354339484935a51e0352cd93e6aafd7d6c4
+size 25211512
diff --git a/hanging_mug/franka_randomized_500/data/episode4.hdf5 b/hanging_mug/franka_randomized_500/data/episode4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..04b6989d0c22f44b6cdafcbbd07e1ff125f58f65
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6d7f662b6132f44576740c7bc566433f0377e383cb2cee248ad430dbda02ee
+size 18279224
diff --git a/hanging_mug/franka_randomized_500/data/episode400.hdf5 b/hanging_mug/franka_randomized_500/data/episode400.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b88cd9d60aa5226e738e6077162fc5906be9ebe5
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode400.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21aaa3dfc56bd41719b33ae7c932b7df5af923c2c21f7ca68b2d33d5241816c6
+size 22675002
diff --git a/hanging_mug/franka_randomized_500/data/episode401.hdf5 b/hanging_mug/franka_randomized_500/data/episode401.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..01c987bf34aec7b5acb3da484894c7274a6632f3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode401.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa917a9b5208df300ce63bc12fd49e9ae929e5e8130b965d1d5ffdd4c075a84c
+size 16815260
diff --git a/hanging_mug/franka_randomized_500/data/episode402.hdf5 b/hanging_mug/franka_randomized_500/data/episode402.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..48a53fa843cdefcb249c35a2c28310a590946d5f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode402.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6bc8f81b5078322c2b7924c8c42a72ed74d2b1b4706d5f1d76a953b4e63d39
+size 16346000
diff --git a/hanging_mug/franka_randomized_500/data/episode403.hdf5 b/hanging_mug/franka_randomized_500/data/episode403.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..790ccaeb6bca5b93dbbf079a6d5757c5eac0b714
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode403.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1245da37de3494a1bb737934ab517c326f871e525515e7512742967c067635
+size 21070448
diff --git a/hanging_mug/franka_randomized_500/data/episode406.hdf5 b/hanging_mug/franka_randomized_500/data/episode406.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1cc2691c58dc1f74e94d74462ec594aef5c7454b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode406.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc726a9044d005f5d5db02541fea84f296bb116eb0885deac5ca402d4854737
+size 20513394
diff --git a/hanging_mug/franka_randomized_500/data/episode407.hdf5 b/hanging_mug/franka_randomized_500/data/episode407.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e5efca54354e6d593409fc71e63ccabd5f791029
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode407.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b2d1e13914e50bd950126795eaaa4ee11fcf5861171f92ce2da363a448f4ffa
+size 23336832
diff --git a/hanging_mug/franka_randomized_500/data/episode408.hdf5 b/hanging_mug/franka_randomized_500/data/episode408.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e10c3413ff6ab94204c18bce7d7eb1fe7e425b61
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode408.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4996bb6bb258b68e60183f1eacc31a87c49b3f70533bf81631ca7761c95adc94
+size 20938332
diff --git a/hanging_mug/franka_randomized_500/data/episode414.hdf5 b/hanging_mug/franka_randomized_500/data/episode414.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a284b543b938c98ad145ece025a8017d2b6afbe3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode414.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7bc83b1dc1f7b36f9dfa441a52cf7107e95d72555e6e36faa7ee5b168158d4
+size 27657470
diff --git a/hanging_mug/franka_randomized_500/data/episode415.hdf5 b/hanging_mug/franka_randomized_500/data/episode415.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1413d8d8e98e91cc075404145e7adad9249026ae
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode415.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b39985158ee1cd30754d9e023a80795a4e3f00ce71999754a51d28febfa094
+size 16266237
diff --git a/hanging_mug/franka_randomized_500/data/episode417.hdf5 b/hanging_mug/franka_randomized_500/data/episode417.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e4d062650a05c930d6a61a8d4a104855fcc68bd0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode417.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9051612f99b0de1ad49e1a7607335125b98a489b0e12d5de44d546163a5e881
+size 18513042
diff --git a/hanging_mug/franka_randomized_500/data/episode422.hdf5 b/hanging_mug/franka_randomized_500/data/episode422.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..11736023ad4c7345c04877f9266ecb765cadd331
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode422.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16292a54269aaff4beffd35015d161c03321ac8f0dfae41cce906354117eabfe
+size 28285400
diff --git a/hanging_mug/franka_randomized_500/data/episode423.hdf5 b/hanging_mug/franka_randomized_500/data/episode423.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..10ede51d0d7bf4f8cfdfd7e884d681b663577eec
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode423.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eece36295b71a9d6eecccf2b7599d48811a603231b4b7223a46d85e4d672686c
+size 17177768
diff --git a/hanging_mug/franka_randomized_500/data/episode425.hdf5 b/hanging_mug/franka_randomized_500/data/episode425.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..eac2a627f6a8c5a91cb2786bf43af4db6d4e09d5
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode425.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781a16a2067de085a729cdb7d62fbf86de56276139aa6d2fd71833f0ae9bcea5
+size 24738737
diff --git a/hanging_mug/franka_randomized_500/data/episode426.hdf5 b/hanging_mug/franka_randomized_500/data/episode426.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a81b64fc9ebef84b241dc1c1510c578c7c18a247
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode426.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e5432c95ea6fa83a7c7838b76a3590f6f53c0a12fd9d59fd542a97906645f6
+size 23384328
diff --git a/hanging_mug/franka_randomized_500/data/episode429.hdf5 b/hanging_mug/franka_randomized_500/data/episode429.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1745b7a38d4300f0408bc7e6c45427cb8020b987
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode429.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a23f5beec19669869844b21d6067a076ae5a446d3d6f150d789692230548479d
+size 21454061
diff --git a/hanging_mug/franka_randomized_500/data/episode430.hdf5 b/hanging_mug/franka_randomized_500/data/episode430.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c9ad170fa7b7e2dc5e193055ffdb93565e8fefa3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode430.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a4850b1e0d626b828a8a16ec3c5fb790286238b61523658f3315dd95bb5fd9
+size 23062999
diff --git a/hanging_mug/franka_randomized_500/data/episode433.hdf5 b/hanging_mug/franka_randomized_500/data/episode433.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bf8f4f625441747cacaae8165d2ac370ab2ac0e3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode433.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e4e5de74575ca7de8e8442f47f7d80334fa05f8a0540bb0f5b5683bfbcb7ad
+size 24518476
diff --git a/hanging_mug/franka_randomized_500/data/episode440.hdf5 b/hanging_mug/franka_randomized_500/data/episode440.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b20db9a8f36e340fc462144727bf6d7851a551a6
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode440.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b81b876d31c3cf8b30362f27471880a54abc7fbc0632d249b64f1d1256d71ee
+size 24490469
diff --git a/hanging_mug/franka_randomized_500/data/episode448.hdf5 b/hanging_mug/franka_randomized_500/data/episode448.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5f8afd26afd0d87437728181d288e4feac6adbc0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode448.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b23c81582e45feee1644ff485290d2dffc7fb7cef1ff007cf92685372f0b56
+size 17568920
diff --git a/hanging_mug/franka_randomized_500/data/episode449.hdf5 b/hanging_mug/franka_randomized_500/data/episode449.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b8637238205d2b4fa96e328b8fcfc0eceb5a3645
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode449.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f5d71535eed168f7578ac740661cfd49a0a00e6666e2e3a4ab4ebadd6a605c
+size 17993552
diff --git a/hanging_mug/franka_randomized_500/data/episode45.hdf5 b/hanging_mug/franka_randomized_500/data/episode45.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..054df2c96d0f94e99979f02801fd517a4e6189d9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode45.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c1045258d5609949c265c1f22d769e3fbc4f92adbead7b596a5ccb8e81ab87
+size 19911551
diff --git a/hanging_mug/franka_randomized_500/data/episode452.hdf5 b/hanging_mug/franka_randomized_500/data/episode452.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82df37efdead835d7a91f531db79938fd9d29118
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode452.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f03bd06876a3bddce0a9ec3673d47af2f4d7164ba22f994bbaa41ea850b2574
+size 20827424
diff --git a/hanging_mug/franka_randomized_500/data/episode456.hdf5 b/hanging_mug/franka_randomized_500/data/episode456.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..17a47428b76ea03075746432ab70b927cae313fb
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode456.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760326fc2e0aea1a5ddae4e06cb17eac5112f7d315dee10f9dbc531fbce1890b
+size 18047246
diff --git a/hanging_mug/franka_randomized_500/data/episode458.hdf5 b/hanging_mug/franka_randomized_500/data/episode458.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e217216d19e446cd4e0fc45a1cb3befdb41bbbe9
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode458.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d309addc62ddb9cdc71d0785b66400ad611bb2f6ee6fea43de0dcdf432c7ef8
+size 17963642
diff --git a/hanging_mug/franka_randomized_500/data/episode461.hdf5 b/hanging_mug/franka_randomized_500/data/episode461.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c60977d640fd8790061105b3554fbf47e11341c4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode461.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f2b1b6bf2b38e3e75869b0faed240485b61318125e7fdbdd44af50cdeb89c8
+size 15877028
diff --git a/hanging_mug/franka_randomized_500/data/episode469.hdf5 b/hanging_mug/franka_randomized_500/data/episode469.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c50f11da6c5bea15c56458dd977f0cac0fc4e105
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode469.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf6e2e49d43593cf68786cec786a8b511b5e5e0d6f88d86066ff08283f6724d
+size 23895300
diff --git a/hanging_mug/franka_randomized_500/data/episode471.hdf5 b/hanging_mug/franka_randomized_500/data/episode471.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3cdfe63fd595e6df92b454c6cdfb5de38b30d251
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode471.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7488bab2318f3b2e4a20313a2a28e7f9c5b92bcc7cccdd9eef601fb6a3e23ae8
+size 19748332
diff --git a/hanging_mug/franka_randomized_500/data/episode472.hdf5 b/hanging_mug/franka_randomized_500/data/episode472.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a5d2ea969ab850645d77cfa661e5d3d268ee0a6d
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode472.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780542fcdd61f2367566d42bfcd044b0e2f5e4961be23034f1331cea489821f0
+size 28002071
diff --git a/hanging_mug/franka_randomized_500/data/episode473.hdf5 b/hanging_mug/franka_randomized_500/data/episode473.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8d411c76cab99115631d2e67ed4dc381531feb5e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode473.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8912d2db436c485747c0826066d4fb9102215a577cc166f00cdab08b85228cc4
+size 17424082
diff --git a/hanging_mug/franka_randomized_500/data/episode474.hdf5 b/hanging_mug/franka_randomized_500/data/episode474.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2bd901211d2636ca4302e121420f51547fe11dc0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode474.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f8ab8f395f4ba06f03b18ceffa8273741e1664be86123d8700b09d8f67963a
+size 22788512
diff --git a/hanging_mug/franka_randomized_500/data/episode476.hdf5 b/hanging_mug/franka_randomized_500/data/episode476.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..da884f942a1c7ac2f7f4025c702b581a5c9d7ee8
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode476.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8ba434f8b782b403fa8792ed496174d9d93720e8dbd45aa4e4722914609c9b
+size 24261563
diff --git a/hanging_mug/franka_randomized_500/data/episode477.hdf5 b/hanging_mug/franka_randomized_500/data/episode477.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..049739065beb5f4ce247aa33dab095c680882636
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode477.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2de56a39528148d768f9859c30485e793eaf39691034d400fdc98030987f767
+size 19810943
diff --git a/hanging_mug/franka_randomized_500/data/episode48.hdf5 b/hanging_mug/franka_randomized_500/data/episode48.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..29b82a4ebbc7881230a03de1434f2be68d8ec288
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode48.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a3349f5a04df7a47656523a35345ef2e96738c6f03ef685a76ff94f453c4af
+size 19290344
diff --git a/hanging_mug/franka_randomized_500/data/episode480.hdf5 b/hanging_mug/franka_randomized_500/data/episode480.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..36e2235d36ba0af70cc69fad2f40ccd50e1b9fd4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode480.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6555c2fc276fe04a3b10ca618e43f1b68f629c431eb1db0c998837e1cbae040
+size 16668495
diff --git a/hanging_mug/franka_randomized_500/data/episode481.hdf5 b/hanging_mug/franka_randomized_500/data/episode481.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..54422603ac19aa2fcf1f57352f5ee5cb31f0216e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode481.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb59df88dd9c6ce74228295de9da29947443cae61e27a75aae87bc65f498d0e
+size 16967414
diff --git a/hanging_mug/franka_randomized_500/data/episode483.hdf5 b/hanging_mug/franka_randomized_500/data/episode483.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..91d0dea509cd0552b86db65181904bc3e73ff527
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode483.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474581b553bddc39a00d65430a16182db41eb332dbd932cb09f73e04f1c5247f
+size 16615577
diff --git a/hanging_mug/franka_randomized_500/data/episode486.hdf5 b/hanging_mug/franka_randomized_500/data/episode486.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2c95bbca4234713116cf47f20fdf5153f161a6ab
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode486.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4aa6c02cbef55c4ebfa0a5a5be1c293d796702593b2273002b31eeedb994dbd
+size 21356084
diff --git a/hanging_mug/franka_randomized_500/data/episode487.hdf5 b/hanging_mug/franka_randomized_500/data/episode487.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f1532b4f5940477a9c6c214958e226b327eb5173
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode487.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d8c5d0254eeb6a9d2a83164d91dc631baff5764f5461ede7d2e05a4335b6b3
+size 24682527
diff --git a/hanging_mug/franka_randomized_500/data/episode488.hdf5 b/hanging_mug/franka_randomized_500/data/episode488.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..79f9f951392d4cbb41fb7ca5985127aa3cfadc0c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode488.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32494c9ee37fadc6f04f0dab001144a57147c01debf91bda5b2d31e628e639b1
+size 23609517
diff --git a/hanging_mug/franka_randomized_500/data/episode490.hdf5 b/hanging_mug/franka_randomized_500/data/episode490.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9c9319a19882f90b03ae9004a99e16f1f92411e0
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode490.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad332d40d97d97e7ea7c02619b09a137ee2671ddb7ae58ecafb612f1cc9714b
+size 22222910
diff --git a/hanging_mug/franka_randomized_500/data/episode491.hdf5 b/hanging_mug/franka_randomized_500/data/episode491.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7fc76c63c9915124a653b4c4a0e9c504a190a21c
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode491.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158afc0d5af88ac8ad5635110b7f520a917e2d3b6caa171b752bdf52c11e71c9
+size 23063748
diff --git a/hanging_mug/franka_randomized_500/data/episode496.hdf5 b/hanging_mug/franka_randomized_500/data/episode496.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6ddd5ed0670d339a1753b06d88f414abb45fca1f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode496.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10321b75e22f6d60e340441dbe55a20b71ddf5020936a95384c2d708afec307e
+size 24866972
diff --git a/hanging_mug/franka_randomized_500/data/episode53.hdf5 b/hanging_mug/franka_randomized_500/data/episode53.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..97bf2677a1da77594b1ff01f920f25b6c99190c2
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode53.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8ec1053bf5f600809e5459c09ca0e214c2bf89dddc5546641de677a5a2683a
+size 27976444
diff --git a/hanging_mug/franka_randomized_500/data/episode54.hdf5 b/hanging_mug/franka_randomized_500/data/episode54.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d2d0720644ad1a3da1bc154bdcd86d1ac90a4e6a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode54.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620b57b7585007e2b8af3c33a6583f33ff9a8b3bf07ccc3f0bbc6378e79adce6
+size 16652336
diff --git a/hanging_mug/franka_randomized_500/data/episode56.hdf5 b/hanging_mug/franka_randomized_500/data/episode56.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..004133f98f83fed9e49a9318de444872cd8e5fe3
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode56.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f80b4b77ec9c43c6be4fbd9212ae43d5f978287cc4fae0b67ac976bcc4fe71
+size 17715830
diff --git a/hanging_mug/franka_randomized_500/data/episode57.hdf5 b/hanging_mug/franka_randomized_500/data/episode57.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..271399e54c102272b0232e3756ebe42d42a792ea
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode57.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387e8cec9202e1d63ef68c28212913ccb9064650a535d5dec43a532f17bb0a94
+size 23777075
diff --git a/hanging_mug/franka_randomized_500/data/episode59.hdf5 b/hanging_mug/franka_randomized_500/data/episode59.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..11db7a6f303d86e436fe31246ac6ae9242ea6a6f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode59.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752dff59b301f5b7136992622393c2424386c0eba9eb06a11a0da16fa34b3381
+size 16343266
diff --git a/hanging_mug/franka_randomized_500/data/episode60.hdf5 b/hanging_mug/franka_randomized_500/data/episode60.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..54ebd2ece43de80762ec86ac37fdcaa5bd631814
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode60.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832803abaed17bfd878eaae05d01771b9772e500ec6ba3857a79ec0ecb461cd6
+size 19225956
diff --git a/hanging_mug/franka_randomized_500/data/episode61.hdf5 b/hanging_mug/franka_randomized_500/data/episode61.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..695f0e22992ec769214d6947df7f6db8316d9e3b
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode61.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1974eff67a4038f029147788a418ac4710eaed8fc13e7d81dc04e6e68dad3a
+size 20641782
diff --git a/hanging_mug/franka_randomized_500/data/episode63.hdf5 b/hanging_mug/franka_randomized_500/data/episode63.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..453c8fcc0634546dc0fb2e6b733db3495a7e745f
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode63.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb00b7ce9ff0d1e05477129b6d21cc2fd13c1a9348fd7ee420a06221abbc880b
+size 21155078
diff --git a/hanging_mug/franka_randomized_500/data/episode64.hdf5 b/hanging_mug/franka_randomized_500/data/episode64.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0ab33238baeb6af81df2d28de347bbe58568711a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode64.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202e6697a27c437b9167cc1df5c87266cb779cd9bd481a0a3569638319403a3d
+size 23545064
diff --git a/hanging_mug/franka_randomized_500/data/episode66.hdf5 b/hanging_mug/franka_randomized_500/data/episode66.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c7e051eef1abe8a7c5af8b28d9961788dea16e77
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode66.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489ac9ac1bf43f607c40bbb928300f8067d18a26cf9f4e23cfceab33ee6adf45
+size 24073176
diff --git a/hanging_mug/franka_randomized_500/data/episode68.hdf5 b/hanging_mug/franka_randomized_500/data/episode68.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7116c264894f2ffb719676de329b1267b6e4a3bd
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode68.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c1c6399bcece7cce07a1e6ae1cd1487ca6a1c129519fd32a7e5b2e11ed8afb
+size 21525438
diff --git a/hanging_mug/franka_randomized_500/data/episode71.hdf5 b/hanging_mug/franka_randomized_500/data/episode71.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..44c2f7d65d527fa2d1b435a127021025d9cf4795
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode71.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11990267e43c62fd2d95f7e42a92f5eb4381503c610a3af68f996c8012875e9a
+size 25169496
diff --git a/hanging_mug/franka_randomized_500/data/episode72.hdf5 b/hanging_mug/franka_randomized_500/data/episode72.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..19b5e108e777f3458467bd271f79b827946af75e
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode72.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1725bee7cbe8a87400b4b6d9ec4f9315460bd469f70124b3789e8627a55d8256
+size 18077912
diff --git a/hanging_mug/franka_randomized_500/data/episode77.hdf5 b/hanging_mug/franka_randomized_500/data/episode77.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d4ed8ddd35ff9a7b53e7031c1b8dcda1a56236a2
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode77.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3cdcd3e7c8d498b92a801b904656d4711441a8c29026f6e1dd3bfbdfcfd3cc
+size 26483568
diff --git a/hanging_mug/franka_randomized_500/data/episode79.hdf5 b/hanging_mug/franka_randomized_500/data/episode79.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2fbb32d015a51c686925d7c8faab776c7baaa661
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode79.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9eb5828bdbd57f1b30aab98de39b3e629e7f90452cc54ce947cdca8d1234d4
+size 17245286
diff --git a/hanging_mug/franka_randomized_500/data/episode80.hdf5 b/hanging_mug/franka_randomized_500/data/episode80.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..46e5f821c85585dadac2e69914c6c60ccaf21138
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode80.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996043bdcf549a7a49e3d50ed1908c766f43aac306f882f8fd5e97cd41edabb3
+size 26658896
diff --git a/hanging_mug/franka_randomized_500/data/episode83.hdf5 b/hanging_mug/franka_randomized_500/data/episode83.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b47c17ec872481fefc197f7b3cb36dd4274fda77
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode83.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60271f7585534402b880ac994361ba778899537b9c372143163b0566900c307
+size 21783544
diff --git a/hanging_mug/franka_randomized_500/data/episode84.hdf5 b/hanging_mug/franka_randomized_500/data/episode84.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a714e1fd4d493438b7bfb18aeaeb4f353f6f0dca
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode84.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a156111dc3834344dff51931466f1f2cce1dfd8b2a0858b2f1eee4b5f67fc58f
+size 19143574
diff --git a/hanging_mug/franka_randomized_500/data/episode87.hdf5 b/hanging_mug/franka_randomized_500/data/episode87.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dd975ea6914b5e41a351b116907c10791b6302ca
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode87.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa9f36d2d731b41951db3f63f63a1edc660eb9f754f44dae57a1e9c3f0be0c0
+size 21523544
diff --git a/hanging_mug/franka_randomized_500/data/episode90.hdf5 b/hanging_mug/franka_randomized_500/data/episode90.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..708d59d6cb85f6674f809e73109498cc06a6feeb
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode90.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9b02eeea4f7a75b68fd8675233285c37c93c9b729e49f670b907d88f84e6a8
+size 21469250
diff --git a/hanging_mug/franka_randomized_500/data/episode91.hdf5 b/hanging_mug/franka_randomized_500/data/episode91.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e21d3be1cdaee5821a51febf91c35c5c06964181
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode91.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76198eb23b757d8136f98bbb8aaa654c30aa090a3b2a7d308619f272b4ed69e
+size 16567560
diff --git a/hanging_mug/franka_randomized_500/data/episode94.hdf5 b/hanging_mug/franka_randomized_500/data/episode94.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fced0935d449f6d1289771048c208b2d6bb04e7a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode94.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9647294deb5efa0c333629f0a11f6a35d5e50b07aa9d97455d66c2bd3a08e790
+size 23730448
diff --git a/hanging_mug/franka_randomized_500/data/episode97.hdf5 b/hanging_mug/franka_randomized_500/data/episode97.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d622c3191a3f99d11c3fbe2c0ea9867204d4814a
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode97.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45b7d1cbcb2269dfddf5f20c40d880f49791575d4f55c42f900cfc1e85c92eb
+size 18705129
diff --git a/hanging_mug/franka_randomized_500/data/episode98.hdf5 b/hanging_mug/franka_randomized_500/data/episode98.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4ac0b67f894bb0d88d4b20b37406a7b694b659e4
--- /dev/null
+++ b/hanging_mug/franka_randomized_500/data/episode98.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48327983b9fd3094de1a761a54256ee865e6772038761f0af02985eead02be79
+size 22042622