diff --git a/dataset/click_bell/ARX-X5_clean_level3_50.zip b/dataset/click_bell/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..84a2ff982fafed866faa82d251ce1808e3243ec1
--- /dev/null
+++ b/dataset/click_bell/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec7222fc643a71dcf49d3647fcd11df2ebed24e4fe3da255b072ed53c3d48d9
+size 61958211
diff --git a/dataset/click_bell/ARX-X5_randomized_level2_200.zip b/dataset/click_bell/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..0b356135a23fc83e25e8f763c5aafa311c9c1c95
--- /dev/null
+++ b/dataset/click_bell/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa1eb750cb26c96b47ec54985e783ba9ba6625cf72d3cd767147ea6cb1f66c34
+size 559318327
diff --git a/dataset/click_bell/aloha-agilex_clean_level3_50.zip b/dataset/click_bell/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9068080e19ee571f5fe3d288f2f69c313a3488de
--- /dev/null
+++ b/dataset/click_bell/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b27785394125360abd3bcf6ab6ced599a5b9eea4c54e6113a5e6c91279846c0
+size 141723504
diff --git a/dataset/click_bell/aloha-agilex_randomized_level1_200.zip b/dataset/click_bell/aloha-agilex_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..da05b0950d0b165aa4d7a3b712b74b2c2fa602ea
--- /dev/null
+++ b/dataset/click_bell/aloha-agilex_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d5c7ccdd41be433112be2d0ffe40c7ee70c9006487b1ab7d93ff36d2ff7b1a
+size 1163675273
diff --git a/dataset/click_bell/aloha-agilex_randomized_level2_200.zip b/dataset/click_bell/aloha-agilex_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d4b672dcf91875156d6be6cd72a9595ae9784d56
--- /dev/null
+++ b/dataset/click_bell/aloha-agilex_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e60a85b0b6c97b9293a2e2bb4c415131375062055e744ebb0a006b5ce2de31f
+size 1166372079
diff --git a/dataset/click_bell/aloha-agilex_randomized_level3_200.zip b/dataset/click_bell/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..43ba53400e75866f92aa07495a186156f10146d6
--- /dev/null
+++ b/dataset/click_bell/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ad7d9f168815c37f6df63af9dde18aa5cf501665e6b414b27af5742c275bf7
+size 1166702464
diff --git a/dataset/click_bell/franka-panda_clean_level3_50.zip b/dataset/click_bell/franka-panda_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b06a7fae7c1bb4e5f1151f6143bf1bdafaddee1d
--- /dev/null
+++ b/dataset/click_bell/franka-panda_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0271498ad7f886d13034476a6c14cd11ac905819196ea2e4e5803269fbd04cea
+size 49711627
diff --git a/dataset/click_bell/franka-panda_randomized_level2_200.zip b/dataset/click_bell/franka-panda_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b5feef3111fa1d7d260f09706b78eace1653be52
--- /dev/null
+++ b/dataset/click_bell/franka-panda_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5432207924a6e0655ae56711f675b3b52d132d5b543cb4bd8376a0dbac0d93
+size 437665755
diff --git a/dataset/click_bell/franka-panda_randomized_level3_200.zip b/dataset/click_bell/franka-panda_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9d865bbaed29a247ad951b623404f9862783f020
--- /dev/null
+++ b/dataset/click_bell/franka-panda_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5eee7b527e65d6d38e08e6de421b9a1636c2ccc172154ba54919d49033e6800
+size 433852165
diff --git a/dataset/click_bell/piper_clean_level3_50.zip b/dataset/click_bell/piper_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4c5a6347612066320989b290ff72c708bbd390f0
--- /dev/null
+++ b/dataset/click_bell/piper_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f276e7b643eaa78adaff12febe39f0c589dff5809395edab1e74de18129c28
+size 62741914
diff --git a/dataset/click_bell/piper_randomized_level1_200.zip b/dataset/click_bell/piper_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..0fa2ad91564d4771beac47d93f99331a6eb913d2
--- /dev/null
+++ b/dataset/click_bell/piper_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82dbc9462bfe4001a6415abd763f7a4e150cb332347721ffb805efb4ece7075d
+size 639690720
diff --git a/dataset/click_bell/piper_randomized_level2_200.zip b/dataset/click_bell/piper_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..50ec8f987d3953b671f7f39ae44b22d71b92b153
--- /dev/null
+++ b/dataset/click_bell/piper_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8753075fa3671a782a9347fbfc14d975dda3d06f3396c94f1e9a25f6f847897d
+size 637563832
diff --git a/dataset/click_bell/ur5-wsg_clean_level2_50.zip b/dataset/click_bell/ur5-wsg_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..68c3504ee44226235c86f537675d8eb0cc2e4f99
--- /dev/null
+++ b/dataset/click_bell/ur5-wsg_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038acaf8d55770e5ba4fd31b681150271035ac6dd5892825cad9f1d908853cb7
+size 51971236
diff --git a/dataset/click_bell/ur5-wsg_randomized_level2_200.zip b/dataset/click_bell/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..552cce1ed22bbb909f4f57cbacebf22c24b485d8
--- /dev/null
+++ b/dataset/click_bell/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ead17743db46b19afd8038e5658594b02d8c8c6f78ef5fe03ff72d781f1118e
+size 435050588
diff --git a/dataset/click_bell/ur5-wsg_randomized_level3_200.zip b/dataset/click_bell/ur5-wsg_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9233cd1c7a450e06d7b3071f1b5511961380d2ca
--- /dev/null
+++ b/dataset/click_bell/ur5-wsg_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8c4cb2f238a499d25bc4c7c775d325b0cd93eacd4613a450687d33bee7d5710
+size 431169156
diff --git a/dataset/dump_bin_bigbin/ARX-X5_clean_level1_50.zip b/dataset/dump_bin_bigbin/ARX-X5_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..448d677e6ea5875d1a9007f839034fa1f31bd14d
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:365e6ef2bff295b5d898ffd3ac633f56a209abec2321e07c40e71f930b122f47
+size 231279560
diff --git a/dataset/dump_bin_bigbin/ARX-X5_clean_level2_50.zip b/dataset/dump_bin_bigbin/ARX-X5_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4bc4dc4ffac930791ee9ffa10935c4f5f0577060
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c6b5c5f91e9a776be5a3cf975c0696e79ef492e744812646300e999ff806e7
+size 251914430
diff --git a/dataset/dump_bin_bigbin/ARX-X5_clean_level3_50.zip b/dataset/dump_bin_bigbin/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..5c7558f65bfb95cab40a02ebf546db9b9fb6f1ba
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a79808c620bc0280572563aace3a2a65a6021cd7e12f48da606b5cf44d090e9
+size 260769033
diff --git a/dataset/dump_bin_bigbin/ARX-X5_randomized_level1_200.zip b/dataset/dump_bin_bigbin/ARX-X5_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b3e8281f8d5c8f1f7ffbb64efad7ed0d8f88dfe0
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6f898c5c10710ad3e348a3f8e04e961cb179557831b97b4fa0d44ef1070337
+size 1381295896
diff --git a/dataset/dump_bin_bigbin/ARX-X5_randomized_level2_200.zip b/dataset/dump_bin_bigbin/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..5b5f07f2e8b292ab62fe0fbbc969321f5bc651ec
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50b6f4714df2159b126f5eb1a29b3bd0a7a803cafe1c7ee0578447e75899963
+size 1568558775
diff --git a/dataset/dump_bin_bigbin/ARX-X5_randomized_level3_200.zip b/dataset/dump_bin_bigbin/ARX-X5_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..dbb23e68a31078b2d11586383a51961bc17f493e
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ARX-X5_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5333689a11c0b3bd1a64b9da4101f561beacf49a14a7c4d24b28120b8716f0f4
+size 1487875533
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_clean_level1_50.zip b/dataset/dump_bin_bigbin/aloha-agilex_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..94d709a449a528023aea789195fe3d9b1a2bc8cd
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dc71df694147387f4dcf631c09c8bb72eb8a04742802ab3c6d2273476807734
+size 532281081
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_clean_level2_50.zip b/dataset/dump_bin_bigbin/aloha-agilex_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b25b3a8006c94af714f3e8053998f032ca3d464d
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95830abba79e46fda238c84bb11fe449baef4eac582fe2b2d83c726648e1048a
+size 529121795
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_clean_level3_50.zip b/dataset/dump_bin_bigbin/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8d9fd4a447a632402c89bfee32af671de6f51b95
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03a8ded45719b3e95ed5ad359c60bca7bc2c4b2824d5ddaa71386b83e4553cc
+size 490503901
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_randomized_level1_200.zip b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6f8d852c090cfd1507b5a3622e6d823d403251e9
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:454a45fa6d2dc02f2dedcc90caeb93ebb95c094b36a62fcc650fd37e4d8e1a3e
+size 3082187928
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_randomized_level2_200.zip b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..5c09e7082cd4474f653d25e5776730e3fac87382
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f36a9d2398d6cb028da30741f76acd4e6290b4cd654ead1a00b617b1acd2822
+size 3379372067
diff --git a/dataset/dump_bin_bigbin/aloha-agilex_randomized_level3_200.zip b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..5127bb5995d6d495d8c89bf15ef0e645079a94fd
--- /dev/null
+++ b/dataset/dump_bin_bigbin/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c82b9f17dbb99419382d97bd4acdf70d746900ef2baffea9f47f98e9bdf7b5e4
+size 3000617389
diff --git a/dataset/dump_bin_bigbin/franka-panda_clean_level1_50.zip b/dataset/dump_bin_bigbin/franka-panda_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..fbba8ff3bcbad362d6ff29748d9b7bb7c8e84f78
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f9090c4910940114fabdd4df9db865da271bd55bb881c9e90ca62874bf995bf
+size 260766476
diff --git a/dataset/dump_bin_bigbin/franka-panda_clean_level2_50.zip b/dataset/dump_bin_bigbin/franka-panda_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..731d9a1b4e6f56feefcaf4645288a6c7dff5d133
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ce731461a020b5654c6896f60d80032920f776bb4747cb8876e7921bdd6aac
+size 295388614
diff --git a/dataset/dump_bin_bigbin/franka-panda_clean_level3_50.zip b/dataset/dump_bin_bigbin/franka-panda_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..cb62f599121b59d573dd583f91e0e23572309421
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc357fec64e5ac73afcd9085175cf35816caa2787e8b1dedb3ae810beb10697c
+size 281995788
diff --git a/dataset/dump_bin_bigbin/franka-panda_randomized_level1_200.zip b/dataset/dump_bin_bigbin/franka-panda_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a6d26886f7725f8ee7ceee73a7366caa229e738b
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce41a622807730b8738f264fffbba66d050c8aaec9ea9fd0bb65131520b2b82b
+size 1710799718
diff --git a/dataset/dump_bin_bigbin/franka-panda_randomized_level2_200.zip b/dataset/dump_bin_bigbin/franka-panda_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3175c08858e5abe9b2295d8502aac601bfc68c0f
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38948c9e49fc8b64566e30be787ad2db3d74132b42092d4de264044e41e343b3
+size 1890211232
diff --git a/dataset/dump_bin_bigbin/franka-panda_randomized_level3_200.zip b/dataset/dump_bin_bigbin/franka-panda_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..c5de6a3e76b6f6aef2281431c7ec6d81c3871f1e
--- /dev/null
+++ b/dataset/dump_bin_bigbin/franka-panda_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a2182357dfa15b7d80367ffea7fe6df0a8560c27c23a8c09efd81e3b965563
+size 1814900443
diff --git a/dataset/dump_bin_bigbin/piper_clean_level1_50.zip b/dataset/dump_bin_bigbin/piper_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..2e76f552f9e8de75f951d9ad0b92368963244052
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcc7924a196eb50e31f389eb78170bf3cd92c6f194b281b84ba3122350a67666
+size 237519037
diff --git a/dataset/dump_bin_bigbin/piper_clean_level2_50.zip b/dataset/dump_bin_bigbin/piper_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e66c7b1d180e352a895b839402e37ea0b7f6055d
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1d14851cbeb6b2c980c6da8cd0849ccdd44e4bd838638a0ee70af9543b0225
+size 246374799
diff --git a/dataset/dump_bin_bigbin/piper_clean_level3_50.zip b/dataset/dump_bin_bigbin/piper_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4e34de6ed2ec035189bb232a056ed66686cdd2eb
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48c02015a27d39d379f8e341b1844504cc9c29a67be6cd0ab9f35baa8cbac0c1
+size 215788734
diff --git a/dataset/dump_bin_bigbin/piper_randomized_level1_200.zip b/dataset/dump_bin_bigbin/piper_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..fc86207cbc07c881831d64320267ece9a4a159f6
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9626ab475b272634eaf0c1b96248ac003f5ac445d75688775535f2158d88306
+size 1489294009
diff --git a/dataset/dump_bin_bigbin/piper_randomized_level2_200.zip b/dataset/dump_bin_bigbin/piper_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b04803fe35c3dccf6f8f4039fe57aa57c6a43
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7054ddd5de30df7ca7278bd8a97d5ade5622b1866f453de8e41cc8d1e07e1f67
+size 1583727165
diff --git a/dataset/dump_bin_bigbin/piper_randomized_level3_200.zip b/dataset/dump_bin_bigbin/piper_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6675630c4a4905bacd65f9d279724acb6a60ddce
--- /dev/null
+++ b/dataset/dump_bin_bigbin/piper_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a98be77d02ce0a85eb5dcaa5dcddd0243041b09a154bc9c3b7f0c1b8eb88891
+size 1365154281
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_clean_level1_50.zip b/dataset/dump_bin_bigbin/ur5-wsg_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..80f48bdbb822d2e16c3b6e9a8dea453eb47175b3
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf84ad5c7118e7c81691af5e96cce605d56e65622f9b6de5183d1438f7890fa
+size 240240834
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_clean_level2_50.zip b/dataset/dump_bin_bigbin/ur5-wsg_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..2141c2d57ba28cde9a5acc3fe47f2f0cde9a9bc3
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4099d3e3553b2fd53239b863e0910b70bcc42c2dae18cfd9d641eed993861f9
+size 266142517
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_clean_level3_50.zip b/dataset/dump_bin_bigbin/ur5-wsg_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..64f656e9f5f1b0343c95afe2a95165c55e8aa730
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9428b82e43381132afef4a2e376adb0523036e5d8af4a3eb105ea420b793536
+size 272105056
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_randomized_level1_200.zip b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d8b37ae4ec4e75c7c21cb6354639dc5d35b5402f
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1be36d47775a34921841cef7cdf4bcf1cb5e76fefdd147f275c7fafb9ab5671
+size 1684442570
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_randomized_level2_200.zip b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..31808a33a73f1c1614e275bfdca7bcb6733cea74
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83663c717dcbe3977a103b6f8aa688441f4649369c949e2468eee7f5bb86deb0
+size 1789763711
diff --git a/dataset/dump_bin_bigbin/ur5-wsg_randomized_level3_200.zip b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..913e2bd272784050e52857ca92a177deec7019e3
--- /dev/null
+++ b/dataset/dump_bin_bigbin/ur5-wsg_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0de2c4fa06964876ca6c6040cad8964f2160c2a298691e2af20d8a91fc4f8b8
+size 1751819197
diff --git a/dataset/grab_roller/ARX-X5_clean_level1_50.zip b/dataset/grab_roller/ARX-X5_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..45f8ad78500f8f1a6f747d23a13dc65da31c0b7e
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:629d4b73d7d11904be44d0356cdd58fc10ab5f63d097269d39d161137c502fa0
+size 101778143
diff --git a/dataset/grab_roller/ARX-X5_clean_level2_50.zip b/dataset/grab_roller/ARX-X5_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..07f8ee3711949ea08a290abbb2bbcadc9b574e89
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc30d0adf5fda3d07a24810fc0751936fe0173906f5b052a82cb4365a41792aa
+size 100303726
diff --git a/dataset/grab_roller/ARX-X5_clean_level3_50.zip b/dataset/grab_roller/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..35c3b65ecf4bf8bca40b164644bbdeb241b10511
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d56018f94c7dfd63a46b0cc4379c809f9b710055f5b91f4709c75b11c43d8b
+size 100119013
diff --git a/dataset/grab_roller/ARX-X5_randomized_level1_200.zip b/dataset/grab_roller/ARX-X5_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3a685454e719376d705032d5dd3fecffac961201
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa9d469697c7104d6265bf6448198481f56b64afdf6ff42d167286985da5f0a7
+size 630450906
diff --git a/dataset/grab_roller/ARX-X5_randomized_level2_200.zip b/dataset/grab_roller/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..aad522fba359ed4e70a20d09cf4c1b90a250b4f8
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c5e80a91093b27b0db4ff1a73028b108960b9d1454d48c10b872a12d5ef4a9e
+size 636231713
diff --git a/dataset/grab_roller/ARX-X5_randomized_level3_200.zip b/dataset/grab_roller/ARX-X5_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..7f2f80e731660bcab845329c69a4dadc89727f06
--- /dev/null
+++ b/dataset/grab_roller/ARX-X5_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6f1abe81865fb467a3a2f532330eb597c06e24e39329238d0de5f193509d67
+size 634274095
diff --git a/dataset/grab_roller/aloha-agilex_clean_level1_50.zip b/dataset/grab_roller/aloha-agilex_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1c20098b6fbd098a23ae1ed56ed425edffc3664d
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa92d28c20ba44036dbec061c184c8eafac4454e42ee101ed86b01ff4314ff1
+size 217382154
diff --git a/dataset/grab_roller/aloha-agilex_clean_level2_50.zip b/dataset/grab_roller/aloha-agilex_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..97c992c087a9c4ed6b524c30fa2564711d799cdc
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f36a95ca73690c783c2de1f06907fd068f32930626fb614b31c2201d5421c1
+size 220324177
diff --git a/dataset/grab_roller/aloha-agilex_clean_level3_50.zip b/dataset/grab_roller/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..74632533c08325bb86140dacb313daa39a08e7e3
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300079566c14a6c5fe30496c8a045657aeb3c62e64601c533252c7373d1cac7d
+size 218032635
diff --git a/dataset/grab_roller/aloha-agilex_randomized_level1_200.zip b/dataset/grab_roller/aloha-agilex_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..17c0a8d2e9d75f17df4e5b8bc6c7a1424b6db4da
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f42f492f8ebf64cbe3d8f3ee246934f62353ea0bb47e0402379786bd847b4e2b
+size 1294551643
diff --git a/dataset/grab_roller/aloha-agilex_randomized_level2_200.zip b/dataset/grab_roller/aloha-agilex_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a650ff98b93ea5c01c78e2414c9c34bbbb506450
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229a6fa1b30cc66992d51cb4e0fbee7821921e31a26461aa33844f4b130682c3
+size 1287746078
diff --git a/dataset/grab_roller/aloha-agilex_randomized_level3_200.zip b/dataset/grab_roller/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e4c7a11267f4b65efcc9106afe7b254e93bffbe4
--- /dev/null
+++ b/dataset/grab_roller/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3084009725e5dc5cdce9d4c947c30b4269db2712a38246c114401b659f3de6fe
+size 1311618645
diff --git a/dataset/grab_roller/franka-panda_clean_level1_50.zip b/dataset/grab_roller/franka-panda_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..249a3c4deafd6ccfa4d488835421921cb14fae84
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a8e899b99efa2e1b67556e24f37baafcbf05f1cab5e60e93da57898cdf26fa
+size 90398428
diff --git a/dataset/grab_roller/franka-panda_clean_level2_50.zip b/dataset/grab_roller/franka-panda_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4ebad5073d2d42b20352199bd09b23f50f0323ff
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b4124c76576594c07052a06ca4c685a641b979268917f0063da05da71e2054
+size 91138314
diff --git a/dataset/grab_roller/franka-panda_clean_level3_50.zip b/dataset/grab_roller/franka-panda_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..0303845bb71ccfeafed377d0b22767199aa72972
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a2b46496b89b1faaceca392bb0ea0c263f7b9e9469f7b81ee140d3fcc48198
+size 91477934
diff --git a/dataset/grab_roller/franka-panda_randomized_level1_200.zip b/dataset/grab_roller/franka-panda_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..c859df615b19db8562ae0a90aff5f3c4ce0006b1
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c63bce4277b3476d83229c78a81ca3ded448bcf16594505dd774b321ed70bb
+size 586117938
diff --git a/dataset/grab_roller/franka-panda_randomized_level2_200.zip b/dataset/grab_roller/franka-panda_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..add7dc40bf6bb089119d61f8afc723f68c2acc66
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f858c0df19182c172f680985ac8230e74071e10d3e8d9808e7454c10fc1c287a
+size 587687234
diff --git a/dataset/grab_roller/franka-panda_randomized_level3_200.zip b/dataset/grab_roller/franka-panda_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a60361056f7dc178c4d17f134e069cbde3b3e16e
--- /dev/null
+++ b/dataset/grab_roller/franka-panda_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f6f0e15a8f52728211fa86be6f77407ad6557ac85efe2db96d766b82c98c88
+size 586114258
diff --git a/dataset/grab_roller/piper_clean_level1_50.zip b/dataset/grab_roller/piper_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d2a02d4feea3a1ff014c90ef063e234a6192d5c6
--- /dev/null
+++ b/dataset/grab_roller/piper_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:225568b77ae8dd41775b481ba9921779dfe1c579a1ffdefbe48a666e4ad8b130
+size 88511289
diff --git a/dataset/grab_roller/piper_clean_level2_50.zip b/dataset/grab_roller/piper_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1710536844dc72c9da1611408505d8cbde357bd6
--- /dev/null
+++ b/dataset/grab_roller/piper_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff253e43e59a3a88d8525429fd44cd0363af458edcba6cc6f6ceebe19f3ed6c
+size 88444594
diff --git a/dataset/grab_roller/piper_clean_level3_50.zip b/dataset/grab_roller/piper_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..7940c5d4a03dc65be96d020c95956342ef40627a
--- /dev/null
+++ b/dataset/grab_roller/piper_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e40b753d8f70b9c487600148f501d46533836ea59c27ca736bc734cf567e249
+size 86055425
diff --git a/dataset/grab_roller/piper_randomized_level1_200.zip b/dataset/grab_roller/piper_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..ee8f09a04c907b791793e450f961c639fbc0a6f3
--- /dev/null
+++ b/dataset/grab_roller/piper_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30739d389c923ffca37c20e72cd5d38a537ee767b8c953f97cdc5206463bb711
+size 629405305
diff --git a/dataset/grab_roller/piper_randomized_level2_200.zip b/dataset/grab_roller/piper_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9dcbe13d3ed7d8b707e220cf2887addb93c567c8
--- /dev/null
+++ b/dataset/grab_roller/piper_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9d635cfd476797b81ac68b095624ee37a45249f8625de8835509dc6e156c34
+size 641948419
diff --git a/dataset/grab_roller/piper_randomized_level3_200.zip b/dataset/grab_roller/piper_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..cff201f778d9d0a07697ea460679e3aec2680cb4
--- /dev/null
+++ b/dataset/grab_roller/piper_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c32c5db951484d20b6a492d30caf5226bbd53ff9eef8c54a0f3f5bc874cce7
+size 628950275
diff --git a/dataset/grab_roller/ur5-wsg_clean_level1_50.zip b/dataset/grab_roller/ur5-wsg_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..86838bb92f5734596cbb474b4867a2b4c2cc8e39
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df3dc41f41eddc59e0d7b6f772fe5817b279d769d75697188776151996a55123
+size 87690858
diff --git a/dataset/grab_roller/ur5-wsg_clean_level2_50.zip b/dataset/grab_roller/ur5-wsg_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..59bdf1a7f52211906775d49187d3a290900b86e8
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44d3d1948a70aa4f58d34bb4457ea71d3d04a77aa79ba3b25db44c5601f5f2a
+size 87971324
diff --git a/dataset/grab_roller/ur5-wsg_clean_level3_50.zip b/dataset/grab_roller/ur5-wsg_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..72239cfba8e6ca7efe45a83da3355664dddeac6b
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b372ce2711c22eca3610dd81d01b82c9bd2d2c918531e2b70160b74d42a241d
+size 88293278
diff --git a/dataset/grab_roller/ur5-wsg_randomized_level1_200.zip b/dataset/grab_roller/ur5-wsg_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8b23db87f5c3da18a6ffb2663c0847a617b7900c
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672051dee5418b2974c2b994efe1d021e71596350102487e489b9a645c96a0c5
+size 591706381
diff --git a/dataset/grab_roller/ur5-wsg_randomized_level2_200.zip b/dataset/grab_roller/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b975f7570419e31dfc30fc37995b9936dce6b5d3
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e43ce7239e6faf6cf39b0b09c321970e170651477dd43a33587d0cf86904199
+size 582602631
diff --git a/dataset/grab_roller/ur5-wsg_randomized_level3_200.zip b/dataset/grab_roller/ur5-wsg_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e59941cfa44876b3184e19d27dc56e775c0de327
--- /dev/null
+++ b/dataset/grab_roller/ur5-wsg_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b87b32dd8bde51a6146841add3aa5bfef91ecf5a375fce91679340ab96110d
+size 576015186