diff --git a/.gitattributes b/.gitattributes
index e31800fc34eee52c019aef8a86a19ed346a7798f..16bb5f040eed532262d323be7ab2503677a81a69 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -14620,3 +14620,12 @@ study/empty_box/d6/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
 study/empty_box/d6/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
 study/empty_box/d6/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
 study/empty_box/d6/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode40.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode41.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode42.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode43.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode44.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode45.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode46.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode47.hdf5 filter=lfs diff=lfs merge=lfs -text
+study/move_cup_put_pen_in_cup/clean/data/episode48.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode0.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode0.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0e8e851084186bd3d62dd73990bd9ffa2b300f3a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode0.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f87e8c9e997b8ef5acda7f5ba5291e7fbd1e3231bd4d2da70ece9c3641052cf
+size 143203
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode1.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode1.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cf29912879dbc390d74df829dfa5a2a4fbd14
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode1.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c5c94754ad5f7a5bc028f5668017db3092c622cc8d86f3cc9e6bee02ec1fc89
+size 134602
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode10.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode10.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b30effc5e17b1916dcc68c3ed2f6ed4a1dd20609
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode10.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90fb2633b38c83425d764439f356b1ec80fc88f721e7de03d1bb322af4ac9327
+size 144163
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode11.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode11.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..78f56e672646f8227ab1c9fff0af8d0eb18db0ea
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode11.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f38ac74a24a5d9caac7681ad30b1a5f2a2a63cf194271c55add92354cbd53c
+size 177817
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode12.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode12.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b391d15d67c8465dfb657e0e7ebed794b9d7e80
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode12.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0943d44ca712b62caa83f628321fe6e31b84da8f58f120a6b4da16e3e5b9e17e
+size 158183
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode13.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode13.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..48db3267ac66cec68ac432b45e38d7c42dee36b2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode13.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56749f9926d4a08bc3e00baf2c746dd50e9e0986c2ed910ea03a996d3d6f0239
+size 145177
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode14.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode14.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1e0808d588cbf639133aff6d73b8fd3544bdbbea
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode14.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760b9b6d6bcf7941a4c44389d75440014d4fc6061f9eba68ab6074234fb30762
+size 145605
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode15.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode15.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6520564fa0957cc8093b15664a0220dd91c003c8
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode15.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472541de7f40e34dc53e923853029e21f2b4d5d8b812b12a016d47284ae877ed
+size 144501
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode16.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode16.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..90b377d24ca8c0409aa86dd26d99ac5b2804a619
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode16.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f302a1c01cf45a79a6f16cdea91a7eaf602a69cc3039564e1b36b1bebe5e2e31
+size 154965
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode17.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode17.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..732e4dfa2a95605456fac1ab84138f7fea0d4c79
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode17.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d38396408d806b4894869e02380e2aacd697619a45785b9daa5a149494a4d3c
+size 145797
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode18.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode18.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..14576dc19d16da775c049be29f08914f904c9b43
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode18.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c364a21da0bad6b1482883c491fc496b785c99a3ea82a1da934852f665eb9de0
+size 145989
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode19.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode19.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..77e48ec22dd3feb0ea335ffa2d534ccbfcc09cb2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode19.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5f0e828f3474c4b846682e590ad6847c83188dadd588909b2f4f95c42b9c15
+size 145509
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode2.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode2.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b6749c5f457315aa61169f5530e10f274870d9e7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode2.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061145b3a96afe5bb53cf398b2044d6a02fec87b1ca0716b0bf00839a2f4dc4f
+size 142533
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode20.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode20.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a83e99884a19e8ed39321e34b39cbb2a8235bde4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode20.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e95080049ab3e4dc8f8e0c27418fa9496d339b3bbf603121fc15deb14f4aba9
+size 137109
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode21.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode21.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7cb2b58652ec49bb8a4268b6fddf9433e1ab12f9
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode21.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6995cb18f93bca6e29ae088b91b9713e5f6fee3021970cca9adb4b377fa43943
+size 134556
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode22.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode22.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6874db1f2c34290cafa67acab1f7821b62538f45
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode22.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baebbeafcf32e8d6dbc487ac7a7612e23cea9dddd2321ae77b632e12e001a774
+size 136954
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode23.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode23.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..491b4e1c3dc9e4f52c4f3df6e7aeaf97cae9a754
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode23.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21342adaef6a393483a870dbc7cfae8a8015eb06c0fa8cf170e70b2a23a238c
+size 135756
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode24.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode24.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fc8ff6955bf545fa9c2ad59a7afb119aa7e0351d
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode24.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffc140d1292738c59f6b2b878cddd49cf2db2fa524c4fc4f7903d5aa74723eb
+size 144067
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode25.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode25.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..eb2dd53d88955beddda4a9054d19c8ce87a21948
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode25.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e4cbeced1247f9e80fcbd5743182f3ce87e20d3c7452fb6e3b0fd303339b8a
+size 137772
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode26.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode26.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b0d60cc38975836a24b8d29b2dd8564f24e97221
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode26.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90122112862e78fdd81a4b2a8272d5f461f1a5b4ba3b4fcc857e4990a85d36f5
+size 141427
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode27.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode27.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ddc4d05da2baa02d466f2ccf4533db4de7e26913
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode27.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835cb875fd7bba6165a1350011c30c34f7716d98d49db75420c218901578ab31
+size 148435
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode28.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode28.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..17fe2a9aef798b63681ad08fa6b733899a7a2152
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode28.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067d3200e6b1e6b67fd9b14808f6bc0a21aa74aafe2a9d352be1d21e407e169a
+size 145939
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode29.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode29.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9bb7e6b5cfd310a5af56a7818b11b628153f2aea
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode29.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1762d96f0f6ca221a9c0e10bc306e9f08c781bcef6be50e38b2c54bb7f0645b0
+size 143829
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode3.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode3.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2114ca2056c05d35c5d741b8628158e07134998e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode3.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a84fcfed468e99a846ffbecf71db50804859b114fa7b16904379de38c12c11
+size 137011
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode30.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode30.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7e9e20bc35df4b2e55ce5d8c5617b9761667cacd
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode30.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13386a337fb240a4ab997ff9e0f74047900fb35a41f74b983b51e815f99e08b
+size 142437
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode31.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode31.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a9dc678cb9ecfc60e4696e061ecbcdb9ba677130
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode31.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f10b86237e46416846bcb63f64f3971a971f5e513d5b62c63b48b8580a8a13
+size 141331
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode32.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode32.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e6a2a76533aee5c36c78adbf99ba9d65923cba2f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode32.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659db12cad5a9da3b5bc031f4f8a42f3dfc6c7fb999347782f373af37f6c0c1c
+size 151125
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode33.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode33.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2fc6b42f5e6b1a0dd79a83544750fc0d9accff90
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode33.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c043c41bacabf6b9e19c3fd0a2ffa4e72e7a57ff512ee4e19e7afd52189cc5
+size 136330
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode34.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode34.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e5ab575661ad1003e864e29853e277f7d5c76790
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode34.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4e5e56563acdb6c952a8bfeb218aa28164d3caf32c69f12d98ee5c4708c6033
+size 136005
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode35.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode35.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..007f47a0dc10a25c0ffea02cac856475a045a092
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode35.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f1ba4f1b6a527c1f5adedae2d2da9fa2b8e595b4f4f52138132bb1bcf758a9
+size 162313
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode36.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode36.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..abc3d0da373cf45e87c0ad577d6feef38d0d144b
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode36.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf1a9f500b97185939c49aeb633bc3bc1eeb93e5a971898877b99cd6205145a
+size 136629
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode37.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode37.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5022275ef7a438bb2e2fb01f261320b887277bab
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode37.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66862b3964a603ee63c15e9ed57d667e9caab3ec769c5118ff7f689748c9e5f
+size 143927
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode38.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode38.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..80c572af212fabac7eaf078370b4a696370a36e2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode38.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c7f88c2b2bb3af06e718b5047cdd3d4be77fcd60764c8ca8de8734545154d8
+size 136099
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode39.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode39.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b95e5457d40cb2c85092e9bfd9d04a3ba245812b
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode39.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68922b8c996fdcf6384c64e580b44814fd9d5ac9e35ebca50b21350da576431d
+size 143637
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode4.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode4.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ee40649975df448d4c28771407e1539da09a04e8
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode4.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7e281111a9c54b8bd4122c72df6346d9d938b3eb5bbada5148499fcc8602c7
+size 146227
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode40.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode40.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ed88288a0444d2c07ab317a644c0d957a184cdc5
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode40.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfcb7ff74ff8722a929b674ed8476fe5fec592bd40e28ec6389c151b341dff4
+size 143301
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode41.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode41.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0c4e15710c793d365c1a1972801cfb9364c6b63c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode41.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cca5077155d49e9b36229652ce05fad8626c89c5749b380ea82cc13245e46c1
+size 142245
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode42.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode42.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..811292a784104841884a434e9a134abcf8536fc9
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode42.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc893e4b8b00026bfcbb804bcc8d1738bc8a6844bae2d0dfa8072112473439f
+size 141765
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode43.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode43.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b5dffc5bcc75883234b3538d56abaf47aeed730
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode43.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8a241d0054016bf51faff84b565c87099ef7666022ab3d8ab9d8db42edaf0e
+size 139269
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode44.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode44.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c85262318fc31d7827468b2cc3f352ce173389f1
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode44.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc6193abc0411eb034cd1b966ec6a46e3e8f3d924f5fc37ada4193fcec743c1
+size 152233
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode45.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode45.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b78e9713af436079df6d2a03702859c6f989a5ec
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode45.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56475055e555f262c264be8407011a7e5226dff610ad25415d6880824041134
+size 139075
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode46.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode46.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9f273a6c21760885e8a74e0df5287050529497c0
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode46.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67334d6972c2e754dd49ced39c20cf3cf702fc77113b2e8fc90ef10be6fb6e0
+size 142007
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode47.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode47.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e8edb75f2438bba9df41baad6d1e96a81d19f60f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode47.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a1895f132772c42dffe8cd9ff0fc6dad1c99df60dd69ef1ad1cf63862a099fb
+size 141475
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode48.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode48.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7b8d8e498c4fc5cd3c260d6a8750d5cdeb058720
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode48.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bda1fdf3ad5a840fcb6e887e6ff93bdca2897043c824d33ad0e67553d3ab9e6
+size 138549
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode49.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode49.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7e04aef4e69f181aaf689e438982e2e13c105133
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode49.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2a77e381f960d62259d6b3d715d67e9de8a62d827431376001bbd37aa407213
+size 137048
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode5.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode5.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..61c8c9146070ad6874cb4337bf8dc8183cfceab4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode5.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:997dd593cdfd1ca746b62e3a957bebbb0b861acab716d126a9e8f8d53d59f904
+size 146371
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode50.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode50.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..17d8be5c31e8e0615a18fb4c0cdacf00ec6b70a3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode50.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ee708784273681071744016925f8e72b2636adb2e2a895348b190fe10fee99
+size 142771
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode51.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode51.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a6c311f070489b697b857ac6d0a1344fada1b526
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode51.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4000ca814ea8493b4086086e946790bb5c5704cfd53854760b8920cffad5b32f
+size 142583
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode52.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode52.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0374d6b41518faf61da3ed4cf4c7b61581b7615a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode52.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149b1c134aa373c0517f62d9a9cc1c320660d1cc13b4f7bfcdc1cabfa6dc7c36
+size 137253
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode53.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode53.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d94bc83710bb92c63b42b42f59cb81e0fb27ec70
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode53.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a9d19a2d9b656efb5a9510752d3a5513a4c9914e0975798fa4d4495a24cdf3
+size 149353
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode54.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode54.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..eb1b38e87e9cff773069c886fb63a189ae5bb9d6
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode54.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c804a4746d3d414a3cd91c16f60c5f57a30bfb6c9c7b864b34c7eee8847832
+size 135468
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode55.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode55.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..36c89dfa49c1ecb7a03e9d1f3ba4621008572f32
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode55.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cc60aaa7c2c5b8aa43fedf17375b4c6dde92bc6dff76164e14c1ea5992a4a3
+size 141859
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode56.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode56.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc44d7f1af42bdc58af29b5121744449eb70b7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode56.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01ee9dbb94b410b4b94bef98b70d7f11275924013d56714c3b653436160048d0
+size 139843
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode57.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode57.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c19113deccd5302a112050a11218da3c0911aee2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode57.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d96fb032f2d5e72c401a4ef7012e711c2ef9cb5b6e83126ae690a69a07fc37
+size 140085
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode58.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode58.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..df0dba32b0a4b09c5317c1fb526a18856ccdaeed
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode58.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:236a9845bf23ff2daca42e79cbb508b14274c182289484c8d05ff1d3547726e6
+size 145557
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode59.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode59.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3420a100e7ae2ce5ffaa6761e85f035d25e6f0f2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode59.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec61afe186068fd9010653ed30546e8a5262372c4aa2094ca38e982382624736
+size 149155
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode6.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode6.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0cfabd398527fec3b3bd62b8531fde3c3c500062
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode6.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb78984a1c7c3624e569aa03de802b0573714544526401387a0ebcdff192840
+size 143443
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode60.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode60.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c62f3ea652cfff60e8ed695de484187c251cd404
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode60.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ca18f57d3748ecb165e7ea941de4a9c04f5c29f06b7ad02264d94b05f4fabf
+size 140181
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode61.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode61.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..869299863643a038ca493d740c2639d2513dbd94
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode61.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d755d60c34637ceaba58c76a2dbf870f228162eab5a3503462a9ba9d834da32b
+size 142915
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode62.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode62.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0450745ae02c6f54d99becc77a056a017ece51e3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode62.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f583b9252920cec651940b8bda3980de66cef3d34040d83fafc6023a3de3cd3c
+size 144215
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode63.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode63.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e70ca5113bf8f239801045b8ffb294b2a5be0774
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode63.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1ebb39b562fb234baf3a055961e985fe6cf56f3322a1b5c7f8f25179c84fc5
+size 157031
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode64.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode64.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..69813f1eacec96dff3d9671f5c11b8b7be221a70
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode64.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4052c0e46350671fa58a69cc1d560d8712d266aa09c004dff8f6216c29fcc6f
+size 133162
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode65.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode65.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c3260ec1629209e59ed323ed0587c4304c07ac74
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode65.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13e9521a9ebfdc988864867bc156e9f0b1fe68fe7d03abbb6a449739a6504fe
+size 143923
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode66.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode66.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1ef85b49a8a8a8e486344b7f5fa94dc13c6291
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode66.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f70f3374e8f6bf468fe6f80267d3141c01d1795c75662ddb960307aa7ec35c0
+size 147093
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode67.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode67.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aec46b24d12dd22c76d9a725a1c11707cb985677
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode67.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73380e1a6787e4abd8344f809b3ce0a66e4fceeee940ccd88f6294a45cf7dce
+size 146325
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode68.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode68.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0f17904d8a7cb181ad9d0acfe587b4a86f9c436b
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode68.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70850502ce091a20b827d8e8be6a105a5f1a91637a36848e4d3907e484b31116
+size 134705
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode69.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode69.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b6aa24d356d218cb71a4d867a3131e6758ab1e4e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode69.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363e6f3614e79fed4621fde02540edb5663d415b1defec1345addf987eb94b72
+size 144595
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode7.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode7.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8727156797a0a5e51ad86c9a1c4bdb73785ea86a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode7.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541bc26df9c6ccd828988219ac552a6ffc62a58bcb92a765e50d09509cfb6839
+size 141859
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode70.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode70.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cd6af04bfc7cb5277f403a9f778ac2f6118baa9a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode70.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ce617e1a8615d9f2fc2d688a0f6ae034160f7898bda9b0e44f13c5165f0d40
+size 146613
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode71.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode71.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..08f33b044b717fc1cbfefe969195e783edf2239c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode71.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c25e9f6aeafa22c1e1ea11b431954cfec2ccdbbcdc4e5d4dafb5de9014fae82
+size 153189
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode72.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode72.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ecedd53f5ec4766d053d7594524a154cb0c3a6a1
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode72.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06da709ea7ba28add8d8c568b4c836a8bb48b3bf0244343536fd20a56fedfe4
+size 135322
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode73.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode73.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ffa3c5b73cff0421557e9fb4e0a79f096fd7b9c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode73.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:665e256337dd55d2d090ed69998e741321beb7a1fd090145ad885442f1b9a3b5
+size 140085
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode74.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode74.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b1df277916b79e5970bff27694099d4629ecdc
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode74.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5555fa6dc5cfabb5232622d52d69bf8e89613d583bd50434e6630e4174460499
+size 140371
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode75.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode75.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0a3bc1ac727e962331075675091566826f2b888a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode75.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e404797fa3517a0573e05a61633099040b9a513ca4d2c5431c1f21daaed7d037
+size 138348
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode76.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode76.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3e3cc26c65e5999e33f73b6c2bcce25616685a9d
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode76.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2701b26a58eabcb23dd517010cc955c1cf2fbd2e5c9e732e5929a043e2b294f2
+size 140277
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode77.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode77.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b6af25d4a15eba81d23d0c037826c0654601502b
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode77.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b56156310a27091d13f5db4f0cd43fa3c7d70288650bc5b4155be5da1d473fdc
+size 139939
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode78.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode78.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7428467d27a73e1e74ab2fcdd91b32a6d793464a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode78.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51dd03ba39904d2779f441e924d3e6ca02f96a08fa6fe637219538f8a0fefdca
+size 133880
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode79.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode79.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b15829b64a4297ecb9c5218d6d0afd9de5ec505a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode79.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce9c515d6dca2ec40f53810b8bf6ce4af13ebf27ee70e08d0872e3281aeccd3
+size 142725
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode8.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode8.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c96ed7bed4786052faddac96f25527f39d3acc83
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode8.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e46ad3f2de1e13e0eab57d2f4bf5fb418fbe7ba43362cc3aacb90bbc101936
+size 138643
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode80.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode80.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f79a6109267b5b4f746c99937a08c8e1645c8096
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode80.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f038f4567226a454118684ebb2cdad54820857fa4b282975c69905e928e79c3f
+size 144309
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode81.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode81.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2760e9bef5cc733cc8df82d393ab361b2b2a82ef
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode81.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2993b82efb5fe8e16bb4bd2960caff5e137e69d8d2975ff360a115079e5381df
+size 142437
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode82.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode82.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bf228f39762c2ff000512dd232d6922944129e4e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode82.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3250ff63b1f1ff5414d86edd4d30bc187e524b0a5c002e80d243101f465e701
+size 142245
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode83.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode83.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c7d093e550cc1def0dda93b4cefbe1c710cde860
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode83.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da08def87502c69af6a6c10839d0033edcd61bbc7de90fdf32c35fd846df6bd4
+size 150597
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode84.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode84.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aa7fa3a626940bc9228c26b5881a2d8ebcef5220
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode84.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784d6fc884892e6b30d72cfbe8727b2f3978679e94fd2915c8feb85cf673a64e
+size 143109
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode85.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode85.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9e1d1a24e25b8ed3a46a25a55e9479784a23768f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode85.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a524f645e0d837d3de7711e47fc5e468fdea9f8838f533d2f4d064a64cfdd8f9
+size 134458
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode86.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode86.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..20f0de0f0addb840a176ed211f19836d33c0c75e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode86.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df173bdb252b3f05a48f622040deea03b0491e2d5fc259a6a02c6577eaa95796
+size 143925
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode87.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode87.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc57ff5d271d2acb0436193982b1dedfaa9cb3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode87.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc4b633f077057f6f7465578764f224b0a08a7c7df412cc1eacb23aa7708d06
+size 139893
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode88.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode88.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad43a433ba1e7be5af7415ba8a7c50f88ad0dfcf
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode88.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b482cf968c13cbc870bd65138aec6180c4a908054cbab8a7f66b6305abfd56d4
+size 156547
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode89.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode89.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..10da4b141fab11a038fa63b1c2e451d96fac029a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode89.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038d4dbd1e9f89c9db9f40188673a112c19cc82861af0f8a4633b376d0c58833
+size 137781
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode9.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode9.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..90e1c92cd4f2275ed00b5d88fe4eb3b2050b2963
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode9.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b938b6a94a86ec8b8cdf98c6a81c21d720b43d27a7f6d4225a116e41e20aea68
+size 143541
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode90.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode90.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f82f24044b1b2ad0ee9dceda2f0998cc6ba6b612
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode90.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ded89042ccf8ab4dfd3b54f4e132d086422045003b7fb0681a60944a198d8c
+size 144547
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode91.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode91.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..327b267696a04b2955688f8e055de4c265ca38cf
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode91.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e667c43ce01c074c89c6d216af79f54c62aef43dc7d27aa3078c0185b09ba5d8
+size 140947
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode92.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode92.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..16f6cfcf1fbf02ee3e00cd28befee7367fdcd748
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode92.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41879b665f9e56544549c0125c99f4213f5853221cf7e373bb56156e96e57869
+size 133642
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode93.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode93.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b0761a4dad80865e3b6464a8ddc91d4e54f055e3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode93.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4032afc7398a06661c909282a3b0526b8cb077a6768a7be61a9b79892549c37
+size 142005
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode94.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode94.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ac28a6cb493811c411ff8fb7cc8bb6c27cd480ec
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode94.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97dbc1d66f1fcb18076abdb0917b2c28247027a82d485324a6400b739e7a013c
+size 146757
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode95.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode95.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..69f1bd720533cd2489abb18af4b58b4317a1dc50
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode95.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e013fa51c778f52de5980a85bfcd32604cdb35c3fc900794ce7e25432702ed4
+size 142629
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode96.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode96.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..031cf455032f99fdba22442c654505f89c3a4602
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode96.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76fb3abf2427a6e2795ea007e2b098eb847e15e757ca7a264b930504fa6f2b8
+size 141717
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode97.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode97.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..37ad0e4da2f1acdff54d5013ecc0980e7acb5380
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode97.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d727f6e5d77801b6c068d757de079abbb6573c1503012b315b0a9c67adef57
+size 135331
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode98.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode98.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..35716bf192a1ec7e11306a2ba31805d05f2d1c47
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode98.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a6b950b3e7470fc56ae89c7e9e5203a10e0d8199f2087d69197f2518e9e38f2
+size 140277
diff --git a/study/move_cup_put_pen_in_cup/clean/_traj_data/episode99.pkl b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode99.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ec2cee3d3581004d7d1e8ddb1c38994c4076c44c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/_traj_data/episode99.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ee86978bbed236f8d0fb48ccb93b385837a3d07a9cb4fe250b6f6b01c42d6a
+size 144357
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode0.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a578f7de9b517123bcd408d5eca3bf1b83d1ea91
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c3c8c8fba5103eff0d5d69f3f988c2d4e03f34a640a294341a1d09f4656807
+size 102883032
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode1.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b962096f30c0c66e650efffc3e5c3acfa80b2a8
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9656babae972dce5ce511d12e2326b60b86675b0bedd952e50a1567c2095efbe
+size 99436961
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode10.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode10.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e393b80e63c027db00c1d61e0d25a2197075a394
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode10.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0adea7cc8e7c362198d515d89d8cb5b11385e05dcb899e14eae5f79916d435b4
+size 102921408
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode11.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode11.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c524fa0e3e0c0bbd8a4900faa5925cad0cfd48c4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode11.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f29914747a62c229134be8c295101eb4624eb18d20ba0a97b3a50116493554
+size 118933616
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode12.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode12.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cb82fa9057e6fe70d2de2267c26b0a7029ec5a92
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode12.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd6fb47ff46c717257fdb1788ce165ed15b376b3a045417f2a66a44a786e2fb
+size 110732437
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode13.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3b6941cb972cbed650d254e954889080ef6451ae
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb560f0892da0a9149d7df397638c6561a9e1d5b2e75692781ed73b1e50958f
+size 104188388
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode14.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode14.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7c82f96d9bbc5c9b6bab7a5a387542eb075848ee
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode14.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdfc1dadc0ce141c835da3684e4ae14a93cc2f449ef0d4aea037c64a1f8fe7c5
+size 104613648
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode15.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode15.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2779658c69122b93b6cbefab8df64f1b1aee72b6
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode15.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b2b5eaf96083de10521488bd847f74dcd19455fa548c4955119a3195ef0292
+size 101446542
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode16.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode16.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e108dbb49b1e0613c782acbf71f1c60909c4a316
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode16.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f36344c35f83fccd40f1a7a1f602ae5fe1c682985b87b5093ca1bc317ac792
+size 108193995
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode17.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode17.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5a5e6e9fb57918ec2efe963dfb7c59d17539985a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode17.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e214ab6b324e92c53f209c7937d5a2c12bd0156f71c9de815374c28051967f
+size 104178644
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode18.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode18.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dfad3fdca0d6afdad8844ed43c201a4a5376eecf
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode18.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b77fe96e9c5864025bb9d106bbc532d859d9345ce9aa3face826ce6ec4f3aa19
+size 102423896
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode19.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode19.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b9b200f3a33ffc80b18895e4419694d91c22585c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode19.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75529bf9004918e3aa94fd85fb0d339ad51e22513973c1fb6c0739c3d4b0cf7a
+size 102183104
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode2.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..48914990c28f4405b01032cb8eb1ecfb8b2bc1f2
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fd1b1a928aa01416026d7e57a9e248ca45902d8c548f461ce8683f37077707
+size 103710372
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode20.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode20.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aa1d34122ee867a0875aa7b4cb40b476d428ae8b
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode20.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098c5a69c39d8c56e19893adc2b27f4a6f7d8253531738051c623a892df9c048
+size 100352072
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode21.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode21.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aaf1867950b4d0c6ceb47ca97a0c2aa0c35d4343
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode21.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced1bdbab7090161de2df28dc7308334cd01a77062edb0908fdd97ce9b7510be
+size 99708642
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode22.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode22.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..60e7a70dad217b7368315232ea6c3ab9f18b51a3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode22.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af7265374856ab1c2eb38b4f3a8b53e0f4b4d5bb205905b577b9fed2546b6a8
+size 100147480
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode23.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode23.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f2217f9bacdfe287931f965dba6163644936b186
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode23.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d15d007619945c75daad5340383ffe1c5f7f2e05d885dff1ff2559a0661dca
+size 99479726
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode24.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode24.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fd1d4acf2a6e33e83541a69486631421f88d40f7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode24.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08869130a4fc57848ce905c6e75e6554e09f315f64cda1e6634d466159e0b6e
+size 103356798
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode25.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode25.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..525ac768b568771a87f14e0b49742bb031057e72
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode25.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a379a675980d12cdc00627cd4507c66e31c32dc1f8103d5bf566b5c32d57c
+size 100567107
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode26.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode26.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba7affe32f43d5ae64d71b214d5d7e308498100c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode26.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42ad4441b7364aa9d46dbbd202bca41ae98b186fd6a174446f4499125eca0c7
+size 102369561
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode27.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode27.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fe8d4b6cf2bd4e1ec6082268bb184d99a38d6094
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode27.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b852bee56799ea2e1b4968b9ab7f5ac35e96193ce2462572a2dade94089564
+size 104861514
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode28.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode28.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6d2263722d0176c7aff45f86067800499632263c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode28.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd951143e2d276445559b0443024a39bd2626d23d9c77686990ec27fad5dce3
+size 104450864
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode29.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode29.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..47984c8b36c948a19a1aa0a704c668d433302ef0
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode29.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0659ae769897cbc874fada74d076d88ce4b0e852cbe753f163ac8cd0e3a4f4
+size 103000344
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode3.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..93c76a904d876cdbb7c3e19e9f8ae27a73aca0fd
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0099fe2ce4e2108a79de1a64b01a75d7371d9ad485553a34d879b361aa0ba649
+size 99853512
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode30.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode30.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9890ebdc22344d9bc981f53da254e6f3d4d90b28
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode30.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92a3f3f6b9051776a589759d5cc0346da507787bbb18f7427c508e7b02f576c7
+size 102874003
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode31.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode31.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c9eea1b5850d90d9001cc1e131e66a48d10975e7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode31.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ac36548fbf44c9ab7c3dc467840c81a3c57a7087f205f6a4da6d3da12373b4
+size 102232377
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode32.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode32.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dc779831e02a03af026942ef150a9833dbbfc7c9
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode32.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a9a08c58b7918ac54037203557320282f1ee5a1a5db3a0c820169700491df21
+size 106647912
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode33.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode33.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..260d46715abc72a58e8d0c6c98039957b58902d8
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode33.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b904f20fde5b2b942ca5f21f50134200fd39d30e020238bb9bf07dc80dd234
+size 100286571
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode34.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode34.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0d1f0b7a91bf7f6760e25a701f332cc3631ad6cb
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode34.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293ca3c0332f7e361678c14dffc4f73bd28145f0eda7460d7a4898b7b7b39f15
+size 100072956
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode35.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode35.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e81f835bcbfe5852b45d6009970c8385400735ae
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode35.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abe5381d00b803884992291f6e52edfa0218d4ec2d7949ea0a137069ae36db08
+size 112678532
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode36.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode36.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..030a3cf5fd1519d86cdfd639f3e97d9229b740df
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode36.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c4c6b2bf1314a9827ab4406e6e12899198409397e53afaea3ebb258c9d9aeb
+size 99832071
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode37.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode37.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f0c41aba0a1d722da0ccaf2ca9508c59cedeb9eb
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode37.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726549a81be5bc992c35163290d9f215226830f07d249114917503535d9d6379
+size 101902978
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode38.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode38.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4c454c2df94c9c0c5349c96a00421ab074e45d3f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode38.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd5b93555d4b009a649382621b6d3ffeca657306ed8d023ced0aec2f77e7247
+size 97799822
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode39.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode39.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..44cf6f3d875d1a5cb3d04218b04d169301f5caf7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode39.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2baff6f0c28a91c0383155a2d3594e962d9c65d9a6d706f09f70c67e7214324
+size 103114733
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode4.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..875cd12dfce514f0fe8040c2b3b519947ff539f8
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec475ef2374d9ae0b20e97aefe7884b31ebfa095846cc4e0099f582ece9f7f1f
+size 105029274
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode40.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode40.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab900ff7b3b2fb6a426317b090b086961d7469b3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode40.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c74564a8944832d1b168920975fa9096f4fc7e7b7aa0853419438714268193e
+size 104060472
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode41.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode41.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8846c4ec2351d59690f7d905fd3358239eaf1aba
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode41.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288df857d77d429056dc130c95ac4c1526836edf3a7693826db1a319c7e6d1cd
+size 102735608
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode42.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode42.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f49d97c7ce99cf9e99b15c93d6bce6da19acfacf
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode42.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff1004b7486ee1b87e566e7ca9147cf5d348b06a3e9ade5eb05714c2b4591eb
+size 102614400
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode43.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode43.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..82cbf203760443fcebdc50af3bdbacaf0928b9a5
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode43.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49c31eb6895494d6455b86bc908dad89621b282ead5d96eabfb087c8720b57e
+size 101378628
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode44.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode44.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..56fc67a3b70121da0052f3f014cdc1f2e87654ce
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode44.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe075be7194a15ff0bcfc059ad270d3a0d45a6778f6c172c070f959da4069a3
+size 107385660
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode45.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode45.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c6dc892c89c338b0dfe7e54c4e802af32f2d64e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode45.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39c19876d06209520326e708498c23e5138d4d506b40949f57cf2e14c85804fd
+size 100762110
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode46.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode46.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..96b982137fc6e4fc56dcd55ccca8eda1cf1b0fbd
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode46.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f54f112750dab0fd0c15f2a92b798ebc5be68f9ac62cdc6e781057afb93b8915
+size 100730280
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode47.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode47.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..25384e4bcbd83c352e39a7f9cdfbfe40b54143f3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode47.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d447fa0de59192cb554278ce1f384a053f56c083b32a152db3b5ee0549a748b7
+size 101963238
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode48.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode48.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ada910b34fd02421d1f7c3ccb988647205ca6007
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode48.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1ab88deca22d65e2d19e2c43734094f3e946da8f14a92cac140294e57ab3f1
+size 101009664
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode5.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..77f32a424a5cf5a9bcb4fd7f79efc8830bd1a89a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8dc936c509ed00433d496892060d08a6a14bf3c7e684621407205e1ab4cf35b
+size 104072366
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode6.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..607abf6f6cf098ac5309f7f10be349dcd247e38d
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327d8f0c1f66d2e4e9a72ffcc9e94329e346c2e8ee9fc39dfc7d72e8c6161b47
+size 103123584
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode7.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3e01a3efa41ae27fc7374af2370a0836eab69be3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47ca0bbea8cd957314f2372ea74db97df6ef50402a55299054e0d606529c83e
+size 102165234
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode8.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..232e62d08375aed95e4f6f59bd49b11cf85bd571
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cefbe396e1b78508c9e47003a9fb7665789befd967f39ef7ba5656458850e0
+size 101086776
diff --git a/study/move_cup_put_pen_in_cup/clean/data/episode9.hdf5 b/study/move_cup_put_pen_in_cup/clean/data/episode9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c3328e692826b6e81bc9edd40578eab8d062d2d
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/data/episode9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3425f71bbee683f153831baacd1539c2010237b772e8ef0ef38a854d923164
+size 102843362
diff --git a/study/move_cup_put_pen_in_cup/clean/scene_info.json b/study/move_cup_put_pen_in_cup/clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94632b056fa3e156431b89c08cd3f7b322d6f34
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/scene_info.json
@@ -0,0 +1,639 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_31": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_32": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_33": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_37": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_38": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_39": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_40": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_41": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_42": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_43": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_44": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_45": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_46": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    },
+    "episode_47": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "left"
+        }
+    },
+    "episode_48": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null,
+            "floor_texture": null
+        },
+        "info": {
+            "{A}": "058_markpen/base0",
+            "{B}": "red",
+            "{a}": "right"
+        }
+    }
+}
\ No newline at end of file
diff --git a/study/move_cup_put_pen_in_cup/clean/seed.txt b/study/move_cup_put_pen_in_cup/clean/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..507ad74f99b4275eaef41c535356c507a69e6d7e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/seed.txt
@@ -0,0 +1 @@
+6 9 11 13 14 15 18 21 23 27 29 31 33 36 37 39 45 46 51 59 60 63 64 67 71 72 76 81 83 86 87 89 90 91 92 93 96 101 110 111 112 116 121 122 142 145 147 153 156 163 169 172 175 178 179 184 186 187 196 197 199 201 206 210 212 220 222 223 225 227 229 230 235 239 240 242 244 245 248 249 252 256 257 259 263 265 276 280 281 283 284 288 290 298 299 300 302 303 308 310 
\ No newline at end of file
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode0.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0389db03ba1dbbb2b7b8690f7a6573eef1c9df3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ef2655e1669680eb997118eb408f638ddcab09d8852a2448f917d78b96f49e
+size 126780
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode1.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9dfe9fcbe6f121a90c7364a766407219c7321592
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16612eb0a795c48634bfded0fdd2a2c9e74320e0131755ad29b24eeee8d053a7
+size 125441
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode10.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c67186d74135e674411d607bf63c2d1baa00dfc4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b7f710b0e85dde2143c9d7e6acc228c74c5859d9a75575c2b8274bc4a0bb87
+size 126605
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode11.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7a625029610ea3306ed1b5666e1926bfa6b2dc4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb0ff2577e0fc4ece0371131731f106dd93ea107c796d53094dbaf5bab0ee5d
+size 142192
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode12.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb4b02c96dfbb67f9078f4435ce7c0ebd0f6c3dc
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c8aaeaad96620b4f591eef8ef75b343e11f7b4f91153604a735d9190adbf07
+size 136144
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode13.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da54be58f60b0d48cc289d14e4f52ceaacfc397f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0329216af05852080f44c4e9ddd036563aa1e24ba641f773c1ca765a7d23610
+size 132864
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode14.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e06cfaeed9b4ad98f001bc8daeb741517c21439a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727295909d100b66b7bd13832738928a9fc831550bcfec94b8b36fb17eb73a99
+size 125983
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode15.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode15.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f2664cdb0a6fc9df22fcb93942f9a4e196f568f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode15.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4995716522512d512592006f01c60bbf39032aeec09bc7446abbd266fc19db1
+size 127020
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode16.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode16.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2ee2c462e8f4bfa8702fd70a4f573636da6e637
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode16.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64834ddcf5931f4a81ab8a374ef05d3972c8911ffd0ac67f5b0117e21870ca97
+size 133239
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode17.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode17.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c6bf596e6ea1c2d8bbf9bbff017cfe6d4be8041
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode17.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95964659f0ab9acf90599dd17660cfa4e18593682bfcd9d2bbb168cd1881e5b1
+size 126421
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode18.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode18.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31d3fa019b8529660eced6c13122c9046aa72276
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode18.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ff4e7cd5f1639d9a7d34424a65721a1d51c6f82259424a5f063f0996aca7b0
+size 126870
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode19.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode19.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc1116f7006d73db21699a2b8bba1a800e3eb05c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode19.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322f8bddca7856302ea31afd86b08365b2e9f9dbccbb89d12e0a5dd09947cba4
+size 126622
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode2.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7b5b56a8ad74a951ad6853e6abd6b633cac10a9
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98622c73e01817055435ad7df9e2214a6e5ef8b0064b43b96526032d13c851f0
+size 131161
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode20.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode20.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd5345f894439747ae8e399b955ee97c0c758f13
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode20.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3c94235c9604120542dbd549ac4707a05e849f4e975bcc72541ac7fd21c7d9
+size 126389
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode21.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode21.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20795bb716e14a56168c8e2cfdc153dd4d026fcc
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode21.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d59a89c3bbf1b1725087c7c86f0248db2cc50e90f7b3c1a09198c24b41b5b90
+size 126525
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode22.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode22.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..062b58eccedeb66f145c14c660de255a4ffd6ec7
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode22.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdfab03e5f7ef9e8f029619e6bec6bfaf60149a828f8322209bc3c28a9a24362
+size 125948
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode23.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode23.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35a7e191ec4d0bfafdb4656e8521f2e5c27c757f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode23.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5000947544fd986c112a14706ec42a514d23e81406e1686f52d41f8e5bcb7a4e
+size 126533
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode24.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode24.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c49df089626b76a7323854e696dd29b6899db159
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode24.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02e88fdae69951eb71a5a9b8540c56ce70b67e210112e853aa300c86a3c0ac2
+size 125733
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode25.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode25.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a8abaec074b280ee685e98cbdb752c44aa37a00
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode25.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ba258895aa2377542f728553d6e4d34f381b1303c0e87f9a67e9a3d34f96d9
+size 127451
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode26.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode26.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33aac3a0b37ade73a1e7f6eeeb5cb08c4b444236
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode26.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84cc43c6fd009085fa749c9fc39b196c273a4c725a4120dcb2c91713c8968fc6
+size 125916
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode27.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode27.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4922ddf5cbde5a464a6e3bc6d60de41b0435cd76
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode27.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb2dc48b2f344b28688234feb753a09bba97af8248e289f979511dbd38251e4
+size 128712
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode28.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode28.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e45ca90d917e3333b0154465d0a2366e0697ecc4
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode28.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282b81f82fac2a4be69f4838609e6d806afa8921e354e0c7cedfee833e2e6d1f
+size 128839
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode29.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode29.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39be25cfa7034ccc6ab31fe0d52e665384566285
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode29.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac1a736aff393ad9523606d51b7cc24b62a8d0639826e8184c7d7e2e96d3d9ec
+size 126620
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode3.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ad9ffc82ed985a392e4c6e019ee422ccb08be27
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998df8c63fc0961ba850a6ca3b670a06f8f7db4d93139e93a565e19170787b24
+size 126602
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode30.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad2942269a3c073693a7b3757a2d01fc942d221a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac29ef0d179e20148557b50ab69925f4a5f8aa88a9541d2a86191f18a17bef83
+size 130762
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode31.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode31.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..353c5efcbe4e77264bd65cc7aa59ef7e28e7d78d
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode31.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc78f697c375375d1da66557e2a78178ec4fe2d2b096a4f4422b6eb4cc58f25a
+size 126941
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode32.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode32.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07015151b568bda18198bee7b35a52f8b9c40d6a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode32.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ae12b56ed3d91c83cf7e31c601db7a7fbe6aa8db6154716ee1ada83943ca2bd
+size 136392
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode33.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode33.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..541992dabd6cd21ca42f04a42e665731c6f92539
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode33.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ac04f099702b50cc51c78d9568da5c7c3566a36015b92f2b0f2a96770ffca6
+size 127653
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode34.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode34.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..513f4eda9ca6644c22bd191cc706fd913469c92f
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode34.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187d8bdbb0c3d545dca46581e72529e16d3f70c6d3f3e9a53973a034c6bb2891
+size 128646
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode35.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e79988df8e7e07a982b94751aba872104150dc7e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7fdb809e5c6ff6f24c100b2fddf9d60e7025f002156aaae6add90963276eb90
+size 137845
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode36.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode36.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7253fb173f3951be1887346e07ef7cd65090d389
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode36.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db3c3128c0c3223fb860b90b5c6c57b06fd6d1c3d4651d038fd6724a3b8618c
+size 126460
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode37.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode37.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afdc09fd31ba6ed14053041bdf31f22316663861
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode37.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01dbdac6479946c1be87c9626128c68ed1a05812366ac868f8bd29ea52012de6
+size 125410
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode38.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode38.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a82c9162d03aae845a0f8d586809c82c3af4ce0
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode38.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a45791d6f43b6b224c959422f5c37499c39278289f8cea004a237b83ab46de83
+size 121011
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode39.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode39.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bd5de85c3dc76254f253fcb8c2ecee48224b5bf
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode39.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e54cb28ba21f6f1fa0b6b1deee045922531702a1c90a3f6bcb7d48dc709c96
+size 124967
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode4.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6111b10c10432d0eff3655ea4b465f73401b2d3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc0d40bd3cef7ca9ae031ed084a85d5e6c4ed19b93960ae32f437754bd0477c
+size 128499
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode40.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode40.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..023404e07c85c8cd647f38a512b5cdb1e844722a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode40.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24a28e280ee065de6f4aff8d95478c4307010387b5c6593bc431b00c0fb6469
+size 129407
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode41.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode41.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..634cf867e133ce94771027963e9ea77fe5eb4760
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode41.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b585610dfd601b635d83c651be0b16b62e7a28832be04abe7afe9d9a1e9255
+size 130046
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode42.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode42.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b41fc62e6cd8366ef5a0b9e96d60a2e56be7d874
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode42.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0745b4aa88c4bc032c5e5027e2fa52ddeeb8f9c802a4a66d190b9187b8ea74
+size 126552
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode43.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode43.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e3a344269b4c9e2ab7283c19c5682b5b404e8c3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode43.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35b8f0ed0c82a2e9163fae81d1d8d1d00046947ef5bd7e2b57dfc44e073080
+size 128293
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode44.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode44.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..594112fee5e6f2276bca5ad06ebf910c0747dab3
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode44.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cda1c2851e263571198d18b45f64ea24d0e7ea5d40fa39d697f187fd03a7141
+size 134855
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode45.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode45.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..198678dc944d7d960035ff29d1f6a10e1561514a
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode45.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1e25b774d3d9eebb5a48cb8d31937e0d0ca26b27d85825d892f124bfa8222c
+size 127962
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode46.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode46.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8928f330e48852cc73b482f16ce6b265d93190e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode46.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb1ca44a6c571c80098b0f6199dcb9eccb948c23efdd7ea5dd17515334ad3fa
+size 122943
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode47.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode47.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c37d1abbea79afbadbcf5673b215270f4bf9d28
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode47.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4550042251cf8b6aac892c752b4286ecda68856746bc00593a56748799fbbddd
+size 124596
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode48.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode48.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ce5692c10b7bfe0e5454c88bfa5946d2c08fc0c
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode48.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50fdc88d9797857a33fb5d8c1b95491a7abb27372f6a9625d56c7ce668551288
+size 128146
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode5.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..503e55c7f515de2248a7fc30836686f1549781f5
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:556e3c28276ad68dafd509472fce7884104a955a9a774229888b3ef550f746e2
+size 126701
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode6.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..760b3fadbd983b38aae43a628de0ffc67b183550
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54bb1c3e52d1f287a53c23c276f7715cf239e4b579f69cf077f3bf424497ad9
+size 127958
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode7.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c276be2c646b2272e91d46d4b0509a84b40e2145
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83091f9c62c48c2ed16f5f2938e0f099d9aa2db82f9e77afffa0b8cc2987cc5b
+size 125423
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode8.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..869d3ecacc538da86e98c550541fdccd4f4687d9
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae3ef854cae76a0af10cbfbbabb58cd754c14c81ca5592e182697b61ef7a92f
+size 124027
diff --git a/study/move_cup_put_pen_in_cup/clean/video/episode9.mp4 b/study/move_cup_put_pen_in_cup/clean/video/episode9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..588a4724b4b99f1e277df154e6d89f956b609f3e
--- /dev/null
+++ b/study/move_cup_put_pen_in_cup/clean/video/episode9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8162c2f437bf812968248f3c9d7212273ee615134f67304346f2c79e4f74781a
+size 126532