diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000000.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000000.hdf5
index ce889a91e616a638f4e45d96322280c327af9c4b..eed50645a8df1404e9f781e2b5f95e4e5ae1c310 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000000.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000000.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae73f9de04db2dbc97e40ceb0114feb0cfbd9b60b3d7efab7c8c774bede98eff
-size 109416513
+oid sha256:efbb46328efb250bd6697c3bf1c41e221db5b3e292fb39cae87b4b24047f9a45
+size 109486153
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000001.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000001.hdf5
index 4cfc0b132bb20b7c351b7169bc19bf4889c128d4..0ec1e3e4c9d0aedc6d562ddec36c273711a6c006 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000001.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000001.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f11c967f10c94e05098dd0746ab6daaacde486ac35cb4d7891ba841a1c4a6b95
-size 156604158
+oid sha256:619802d94a61933201ba727e4aed07ebf8eb43f5a137dc5b83f578de6cf17c97
+size 156709638
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000002.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000002.hdf5
index 4545cc600d742a76c088fd3f912b7451ce925caa..5a590bcdcfce32375b16c391f4682456d3c0c882 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000002.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000002.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dc65c70e6990f8ddee840fb05e114dc8da8b54c1d4659cfcf32bb2c7f56f5561
-size 126427644
+oid sha256:c5e1ebecbeb414f27e3ff47fdb89a485b26a778376dd9c8131d8f9e33d23460b
+size 126512516
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000003.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000003.hdf5
index 8601d279984e1f87dd05f6c9e4bee5add4f2c5a1..48b527a5d97acda66bd2666f4dd29e13095f084f 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000003.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000003.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a05b02802e29add32d0eae883c1f80da47d1ad26461674b41c1dba9ba19b1fe8
-size 116969839
+oid sha256:31188a3918e0e5a76a167b29606c9eb813d6edc7157f1060fee8a1de6dffb294
+size 117046423
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000004.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000004.hdf5
index 9201e8de2b34387599031618b07ca8f8fee61dac..072cbccdf2f0096f5e3069ca7a59c6545d976686 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000004.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000004.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6bf200dd887ee338eb86d43f9422a0f9ad5877a7b7590cd9868ff4dfd990ed0
-size 109918869
+oid sha256:26653774c559a49b5deebeaea245b7829680bc00352e47d466581ab88cbc3ac1
+size 109991197
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000005.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000005.hdf5
index f0b43caa41787c9ed3d5bd62bd9ed61bdb634926..b011db7386accedeada06f6e7e37c412965977fb 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000005.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000005.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dbf8aae9aa989ba9f17f56ea0ee45811a91001d77666474100995c971214eb18
-size 106793298
+oid sha256:4166a11941db7f4e9cb523d5791483c355bab7bc93645d4f1b73cc22eddc3173
+size 106862938
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000006.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000006.hdf5
index c291e643c403f29e2989d50a9ecdffe4dd43f804..19e5601fb28b29bc7d38ac2131db45e0ce1035f5 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000006.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000006.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc4c95a018966250bad09bc9ab26b3c6bf2aa34454ff04683eef56271c7346b8
-size 114929998
+oid sha256:dffa371b6c0c4986c82454a19a3f7f300d1f76aaff1a37efbe46cf89bb8de8af
+size 115005798
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000007.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000007.hdf5
index 969180b8b5b9be69f1447a96ed62b0bd39c6ad7d..0168b8cdff5b46b2a386ca2c2bcf0d64ae0f95cd 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000007.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000007.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eb346e37416fbc98a463da1b6dcb77373a7cc5f40a9113678091db58a715c45c
-size 111860016
+oid sha256:dbd59a79270f60ce6e7df0a5e3086cea90a70a120a12f7753d8ead90d34087a8
+size 111930664
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000008.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000008.hdf5
index bc55e74e2552bf202d17ba51a32d968b25a40a85..771858b2514c4bf3d679595360eade1347e34190 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000008.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000008.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:454d2d3b79be5d16f08f7822d25115aff620e5f6ce5b1975309947cb05569012
-size 129477012
+oid sha256:eef7c7e33e8c0cbcc391418db14f49fa27382aa39c902883b63ea4bdceca9749
+size 129557964
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000009.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000009.hdf5
index bc3eb6ca9e595489f1bf8c703337fedaccf0ef41..20942cbf32ec5255ad3c53f0f044aa7082d5d775 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000009.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000009.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b3b76fed7ef85d199421c28e7e33e9e3ffe37a21acdbc05b00ebb246d4c91aff
-size 125574624
+oid sha256:e3b728a79d37ea09224c24d2f3ce0a694535d0f780d0e67464843d453601b114
+size 125656696
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000010.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000010.hdf5
index 5bfc283f09bdadb37720f153093de18e9c0c678d..af7b99f00d247fd375c5b438ace9410514c311d7 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000010.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000010.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f9f17a75b17e7d2bcfaa4fc3b3b68e985dbb98c0fe6751e60c6b060f3cae1e66
-size 123042996
+oid sha256:4740d54b6986a584d005d7957b32a50e41b6c90723fc906f0f3ae028e3471a22
+size 123124508
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000011.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000011.hdf5
index 181477b10e70ce5dd0f361ac26b24099e9a44569..1603d075a716a0e25b6a3a7d1e69018d853de20a 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000011.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000011.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1476bfa29252f64969a13b82344f7575427bf77cf7933c407a58a9a8edcbee1
-size 127988136
+oid sha256:09d56f2ebe7cc29d9fc218067e3d7752581c20de6b47699e7f8f2ebc4344cf41
+size 128071104
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000012.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000012.hdf5
index ef98cb1da465de4877694bf96adcdd9102a856bf..c85cc3ec56597e0221dfc4d0c8061c60f7dc373e 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000012.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000012.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8f622ccb4040bc024a059d676f1f93af6c28ee4d15cf620879bc6a74d395263
-size 115115192
+oid sha256:abcc04a60e8cd0cc9eaa5182f38ba6630969eff7171b3ec7523f04f503640bd6
+size 115188976
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000013.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000013.hdf5
index 34ac0ba7e0be5a6e73276d47220b79438509f9f7..5b035c62b4062fb548dbdddad5a3977a21652553 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000013.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000013.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6bf8a02091273eea3bffe28faa1c902aa6daaa133a73735adbe43c7041ed6798
-size 100957803
+oid sha256:0265ee56da6e63c230e7b0e4d4ecac6ba9719d30d9f228e705f0f23083dc9607
+size 101023859
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000014.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000014.hdf5
index 09b20c5048dda0af2803066b025371881c1701b7..1fb6c11c5f781555403e42e8eeae72982d9d5590 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000014.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000014.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c7cec2e0073d77248f6a58698bd278ee7f826d37386fcda81095a19e4ee5b095
-size 103130716
+oid sha256:2e3d8b930ed21b7eddcc784ade9343aaa64da1756e8ce829fd00482b9d80f22d
+size 103200244
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000015.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000015.hdf5
index a5a5b20e5e7c37d7b73720f5b116c0affd745ca5..e54706707bc5c82b702e20805c8ab26b16d869a0 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000015.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000015.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4df507bcf3f8181bb0d5356d7810408153c5b587ff651e9fc1cf093de9a46f51
-size 100474271
+oid sha256:672ec091fe1cf5ff0f3dbe0164e9ad62f16335323be17ae314c10c81ccd61408
+size 100538087
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000016.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000016.hdf5
index dd8d864035bb7cc48687388f4bfa1808b96a89de..4a1a4e60d4c59ab1e471cd598ffc726969abb980 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000016.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000016.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ce93dbd3767f38a1ec96d900a81cb5c31437cea64e263c65d97a0549efb5537
-size 94717808
+oid sha256:7d4ffdcc8f6f16de9ced549f917ca6c6095b2d974304338289147999dcb70303
+size 94778824
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000017.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000017.hdf5
index 867c529475521a9e556dc523c974cec21e733019..25f91c42543e053507bcbf4f3a68ad602686a467 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000017.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000017.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cfa9d8f019748a95ddfb36e64a2aa25fb0e384684f2a04f8f3b1bcb813785f86
-size 109851948
+oid sha256:62a8429eb567ac71a1c234c204b5f21da7737c6d3bed15c89bac4982c6e38d6e
+size 109924948
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000018.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000018.hdf5
index 5df9558fa446c0e290c19d0f4bb504dd3a17843f..0f58865245f4a26b70bb4cf06c95c2ea63ff154b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000018.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000018.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2cfee053483c01954ba891f82b057c0fb5f15f0ae526dbf08cd2acb06ade8a68
-size 108833054
+oid sha256:749ff8190edc7a79c304fc45a2ed6b97793fd376369b8464be1b8b81885c1b2d
+size 108904822
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000019.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000019.hdf5
index 3010110cdf5382ec1a42a4b366ee3cdf6209e345..1b573774d9fc2be9970c4846f9e51326fa7ffe68 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000019.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000019.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bdc595871dbed30934185d28b1c5a3fbb587bb72a80119d4f74f0b14c93276c
-size 120851208
+oid sha256:d1cbeac95dde129dabff64057dad7f676f3cee563c4ecf4e62363a65b91fc1cc
+size 120929248
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000020.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000020.hdf5
index e6ca9aa95950b3e7e6a4d398626bada0a6081180..48cd6d598617d913b8897beefb9bc3878aff1e67 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000020.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000020.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a4471d34e655f2e7f45e11b9b9c6ccc27675d2a03e4709fdefd761e02246d85b
-size 126428088
+oid sha256:ca6be98bd9dcf5f5c2e5cd4d97d28bfce1db494a05100e409799eda237d3610c
+size 126509488
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000021.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000021.hdf5
index 4ba58100272c5f60d5771f7ad3a42e63838c5a2c..68cc8bce343f80b78ebf4df7f4eddb7b606a2518 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000021.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000021.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e0f42c94c7725201502592adf841fb65655e094cc98b4399a459f035cf8bc75
-size 136919564
+oid sha256:b418978532ea752a7fff57ee38b5246370c67dab4e46a4ed9cd9ba21c7c06b24
+size 137009476
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000022.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000022.hdf5
index a061b571505e58e0bd1d0c0037ba71dfe4197d46..613343f754a86d25583d8d46d6a40df17fd986ea 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000022.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000022.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2caf79f31ac1d42a1809d2c8ca63005025ae72cddb3b1fc02ecb2e95a12796c4
-size 132849819
+oid sha256:e555cae4d306b6f3d600a5ea0dfe9e66ee70795268d9bed17bc6aa3b9cd0b0f0
+size 132936035
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000023.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000023.hdf5
index 6137577d17b9ec03a179d46dcf07177ed18bbeec..0fd830f4d48f3f70670f909c9815eef16fd1ab14 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000023.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000023.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fae6d5b3cc1abb0279b8d501f20ed293806e2af7c4525543fa5c5be796c6cb05
-size 124735275
+oid sha256:b1b12b32dfe94b752df1215fff0a8ffd45859401fd80bcc1c27890bc205ef1d8
+size 124817683
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000024.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000024.hdf5
index 01962040574fdf40c8989684493efc1a8415ef22..93e38dd60b2878d7b7b431655a13ac5d42bff9c6 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000024.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000024.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8fc6f8d3fc3495e6d6933db7f82255be16fdd30037a081903c61efa2a93c2cc7
-size 113607160
+oid sha256:d2d73c97c77f493270f511a169ee2ec4860b4402fae77216fb569c13dd8c0417
+size 113681616
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000025.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000025.hdf5
index 41b9f3599cafc097f3a8afef86400e0d28698a3c..c4852f96150734e3cac68d82bc42dbf12735b9cd 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000025.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000025.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:753caff205bc11ef0f3f2183a66e0db15c02f62025a65e669b17640d222d6ab6
-size 114495048
+oid sha256:0e2d31da66255f0c01a2d003fc980be68fa3259ca1fd6347862047358ced614a
+size 114569728
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000026.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000026.hdf5
index eace0518f18020a74cf3d561aba7d619bfdbb808..4675056ab4dd74e6e361456b5469a5949de56c18 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000026.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000026.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e25e5bb64793c562bd4c21cc070ed0842c7704a35275fd187d4ec28c32187ed0
-size 126287159
+oid sha256:e93e8b4f4e93adc580eb0d233cb3f52e6ad2d4495f9ae486f01444f813126b40
+size 126372703
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000027.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000027.hdf5
index 1889322ba0429232c84707905f3ef301cf6688e2..d7f048ff9887ba089b50352555758a9443dc03e3 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000027.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000027.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cf76fef8a35bb7969969ac8954b788e3b0ac7902506850e473555ca125be635d
-size 112231526
+oid sha256:e7aaf1dfa6d9647ebe477fc1497c8c31ac6109aa42aaf65ef0ea8b87ae707822
+size 112303742
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000028.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000028.hdf5
index 1a742a37bd496e1721e8acad7aaca67cf5759d04..656f688b5aceb5b60e4cffc4bf8dafbdfd164abe 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000028.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000028.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e4816f80b58a7950fb0660f8e23471266cdd180da070f5841e89bb6cbab8323a
-size 132852903
+oid sha256:7c32e3d5599a0e1b2079196995b42ea5a485c43ae9916477ede3160e2de2f5cc
+size 132938671
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000029.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000029.hdf5
index fe07db69c89deaea7ffa00bb1be5fad7ffcb9b9f..873f6866031fa94c46ed6755cb388d01ff28e20f 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000029.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000029.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14360d57a0b8a762d214f68c6c8706d41615b94bb1cf4be8bbbdf498cc415fd1
-size 143947723
+oid sha256:2cd2e762d5501729f53d5d1709486a5c5bcb5e4ff4995b02c5126ce68302ce04
+size 144045139
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000030.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000030.hdf5
index 68846c64b3a2d534628cd0835271f1dc4fae4a07..5e1e31380d32145fc522aed21b002ceff3b5360b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000030.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000030.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22646b4f744f74b208e063886aae9715f07b8d42228f1a01141c8837fb6e48c7
-size 146992112
+oid sha256:70154209329d70b682a66993e5b402b1aa4809fc8f8ab15705a89e5fc62c615d
+size 147092104
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000031.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000031.hdf5
index fd351544660e7eeb73a38f74d68eadc95bea8238..933d8aba39ff9931ecf8d516f208861650d59e42 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000031.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000031.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1020d084d87dd16e113039676d238c223fc0ceffba10310ae8c984cd3bb21cee
-size 141463941
+oid sha256:b292fdd4f0e3a280b0de35f7700f077785da18dc8e1fee5cc831c1d678c153d4
+size 141559789
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000032.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000032.hdf5
index e3ac0ebb1461412412dd646d17a3ebfdeaca1391..b9b8e7ae523220e829350d9781f42cb1d37a3b67 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000032.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000032.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7e74704a4862088d5ca9a5caa225aa719ae680343f7dbe1b1c285cd815118eb9
-size 180618378
+oid sha256:68794392ac9e675c4845525a03f3f2f0b5b5d2168eb3f0d921b3d59b4c5653d1
+size 180742114
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000033.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000033.hdf5
index 1a82fad88ad742ebe50ed38f0afe42a170e405a5..5faa727e55f271f45d4f334945498ef9e3896db3 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000033.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000033.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9133c26263b486e0180978f152e3d72c8c87024b6561390b4a18952a9d69115e
-size 150723606
+oid sha256:c840aa57be27acde82d7df36dbbb1ce33d4fd728aebbe7bce012ae0fbc35670e
+size 150829422
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000034.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000034.hdf5
index 774ceccc0c3a3a7338956ed1275ea95576dbeed1..d27e8563fe9792db2dcdebc18453b7ad2afbc1ec 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000034.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000034.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:66fa4c1b25e71cd5257d8125995b0da3d6b094645edc07703b2f610e52d5c5d4
-size 116835988
+oid sha256:2eebbf66e99b0e591c3afd620e596f0d698799febb1cbed289d863c2b73c6058
+size 116913244
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000035.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000035.hdf5
index 97492986a07512e90a4fc23eee638ca548b17303..37feff5d5a6748231b2181f1fa7b622bd85b6e8c 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000035.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000035.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c67faa9e5c930e88f1821ab6213905d7027c114f1d6abab6422c9de707834840
-size 130429796
+oid sha256:106426826c9a55bb2b3a86b3083d8da1433a7b628120bd08278203f9086470c1
+size 130513660
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000036.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000036.hdf5
index 440ee94a292bf91d6aa2350d6004c29f9c98cb26..8b6f7c2e64fb9a6eb0a0e50227cd72b1f4a2b8f6 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000036.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000036.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:96fd663cf5e6c131efa925d1b4297003d1bea99e9747135c70dfb097f9d51df9
-size 118619904
+oid sha256:5cecd034d132b4c8af524798a65d9e6d1c207ebee66f4f0b7ead5caa4ab62434
+size 118699288
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000037.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000037.hdf5
index 9c5834317d6bf07d03c5dc1559f10bc42c1dd17a..ad2dc73ad31890c0f4e3ec7dc7855189bd66ed08 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000037.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000037.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:52c872e3b3758ae70411d2392aab5ecaeec7f9dedf64a17f5f870fe8bcc8fca0
-size 146037332
+oid sha256:e3d511b631e884a9eff7dfc1f19be9602ff6ce1166e930ad5148bf819069bcad
+size 146134636
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000038.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000038.hdf5
index 4d3c36160ba17807c760f244dcce9d5daccac0b8..43a8b57a8a45f7c1d542cf90a3c0ddc3f6e4f647 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000038.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000038.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:975d8c08840968164927cc804c64fe0e254160a1accdc9cda432be908c41676f
-size 132067890
+oid sha256:0be23d481947beb932bfa5cb42cc466d6a29c0866361c8a8b6ec4e0839dfb457
+size 132159482
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000039.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000039.hdf5
index 887a7f4fec36118e6756bf71cf87c7cd2ac8a43b..429b541ff5439443009214c847680209078aff83 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000039.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000039.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dbfb6a5a163384d4d603d40f8282578a27d32d7850bd58a356801899c09ddd0a
-size 130469116
+oid sha256:250d9680d3f96cd9931e973ba45d538ecdd8709d8bde7f6b9680a8b465939a7e
+size 130554324
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000040.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000040.hdf5
index b241bbdcb1f7a5075a90ea24d251779850ec8a0b..b3e36c994e6eefa088117176719fafd66a48a7d9 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000040.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000040.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:95ec287249d87fa0a36dc4d537003fa558ab7e8ac95a24d7418897ee51b8970c
-size 156852713
+oid sha256:639cbb839c7e47ca96810dba1a93fcc146f8f5adfbc555bac2fd1fef463bd367
+size 156958865
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000041.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000041.hdf5
index fca4d2c5bf3aac31d3aef655ba648f823f1ab6b2..5639473206c9616565c60a975be87648a8d3b6b8 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000041.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000041.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:857f0e497fbe399ae2db6ad5e6a913e6f86cfd717bf62c9e815eccbc0b6a7c8c
-size 155430598
+oid sha256:77368373261b14ea4144253382c6cec956f53fa04af460dfa9c8a360f1945657
+size 155535070
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000042.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000042.hdf5
index 0e440204c657e4e90dc04f62830ae1f6bc79d15e..56a6655c28cca9a5f42903cfcd194313f877ef06 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000042.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000042.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8e9eb4e75788bdee691b0cf3549c408713947dcba3eaaaddb85a48b9672207d3
-size 135790803
+oid sha256:7c97f44a6c15cfc7f1e007bc3b75758f4f61c35f4ed369de663a7638a2a47fdc
+size 135882843
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000043.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000043.hdf5
index 8af2c69bcfd632294c8f07553eb587ac1eacca13..623b7c1e8a521397834408d27bc7d4c33300f77a 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000043.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000043.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2de6eb5fc551404df7d54aa2b959c86d3e1b70a79578849d9ddda7ddac30dada
-size 120871443
+oid sha256:06ec77b53057932109a9591eb8f516ff1606fb9ce1435db003c5f545e936b48f
+size 120953179
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000044.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000044.hdf5
index ee2e01024202a49125f62146b1e0ea2f607fe1c6..7d19aff3eb71217bacca4a0b0a960c477a3a303d 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000044.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000044.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a502b322763db00147923e31102f58e4a3c672c0ca0478aa4064974366759b6d
-size 131164533
+oid sha256:2f1dead97299179bedc66f46cf2d0f9cfbf76e4fa342c4bddf88fb144c83c5b7
+size 131251645
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000045.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000045.hdf5
index a0722d56a3eb01f77f313eb900a819db014ebfb3..6173e88150ef288647e61ebf297f8c2506adc2b7 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000045.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000045.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:763e49023e52dfd828f94a7db4fdbaced035b9463a9dcb494381ed3a9665fe9b
-size 138117298
+oid sha256:e430baeef0f013a4d4c8e9ea966b7887b5c39cf68f9438087601e3e8a25fdbcd
+size 138209562
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000046.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000046.hdf5
index 284fab8dcb408913c5120df582303b0cb157f7e9..b0c44acdf572b6435f2d3baf6ae46c7206f0f151 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000046.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000046.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b75f086243e2addabe84875b0a342ba173ddf73d3b5849e452a328016ebe5efc
-size 117207898
+oid sha256:5c070cadd06fd173458e70036b9fecb4c31978a81d143adbbf9281be1f9a71ee
+size 117281458
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000047.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000047.hdf5
index 144f0b9adffb444861ac0bac470dd768c55ca095..be14c300f716becc0f33997ca283012df3da4340 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000047.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000047.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:294d12d517f843dbd4d711935b1b45edf7b81fc0260940f105f82f6e574c9fc9
-size 106957508
+oid sha256:adb7ce418e2b3d66b20a43118322920b5ab6a554b22620ca03b81b7541945b16
+size 107026028
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000048.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000048.hdf5
index e0312802e6603b8b6be6def5ddf01bd01f20ca67..6525a86f3e4bb687d9cf4df736788188509b1b14 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000048.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000048.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1e1ada06677c4acbbaeefc8abc78e25f867140e14011f395c8de3fad5ddc5f30
-size 107508736
+oid sha256:af2560f59f7a75e8f1de59641cef9c9713a044df4ed7b786f33e2dc40cb52d52
+size 107579832
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000049.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000049.hdf5
index 717a46b487c8607eb4d67f62ccad6e66cc49ee33..417d242d4ce12b5c3bb3f8d96be455023bd5a6cf 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000049.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000049.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f7a82ac4c194e954c67c387f5cf3ff490f59aaa15966ee7ea21bbbd34be422b6
-size 122487606
+oid sha256:450974ee2935d773f43c509565d9dd3ead3c947f5d05f1443287ed88e83fcd87
+size 122573710
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000050.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000050.hdf5
index 6f571b35c734bfba7b67111f898e2e39898aec4e..66c7fdef26398d85a91e3934aea795c0698ea82e 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000050.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000050.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8ca3aa156d7d2d4e3070909df367a0d4475c8dd2683922ba2f7c1f9aceae8ab
-size 124014747
+oid sha256:2086a280a0626eddeff7c6a6ea2c8a193028c034605469583887943bb9ea1674
+size 124098499
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000051.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000051.hdf5
index 155d1c7277afb2c503c23e0dd5f4e1aa4b21f58d..dd9907972b48d0783b43465b4cee88dad617b158 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000051.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000051.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a79c2bb25d911e390fe495a340ae3358a82a3eaf75959aa576f2d2a3cdbd3a02
-size 104448156
+oid sha256:bedc45f05fd0853a539e38e8e36572caaa9262cc83e4e78cf4564c6e3c1b6548
+size 104514772
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000052.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000052.hdf5
index 6eca6284f2197a0598bfed56c4f1624770b433e7..2e1391409d40626a0fbc6bf7e918a5ecdc239798 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000052.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000052.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8adcb00307786694c941b297c637c66ed9228f36ca2f6e73defc995fe0e1b980
-size 138655368
+oid sha256:ced9fdafa47d7728601a60e595dbbfc601d8cbfa3c0d9b44ffd82cb43321e1b8
+size 138745728
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000053.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000053.hdf5
index 0ed8132bfb443c77845b89b9d1a84d2f1c3d170f..4dd972c044c219d1d5e9537c40b90bdea84f87da 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000053.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000053.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e8a1fbb4ee257588ef0ad431279e94e38b8ff91526c64fb034661b5949f285ea
-size 123432200
+oid sha256:6c5f1fd93144e19dbed1ba9f55f22c34f693fd1c03763686a7c7208c3146ff0b
+size 123511808
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000054.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000054.hdf5
index 368474cae85f6e47c1835d0e11c08df78f3e5148..ab5d477abe2d6776df40e0e9ca19b3a01effa44e 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000054.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000054.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b5f17d0d42889981bc28eb0730d0140c819012c1a47a63999340a93ad10d3840
-size 117909126
+oid sha256:5e97ab9d845b71d4c6008e2d65ca3921b47ec07ee1c61181cee457973c4bb6a9
+size 117984142
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000055.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000055.hdf5
index a0747069a9d6d1c5a3a7c3e410ed9243ecb0c864..7f63e3a90cf631e3c8618a8b98b7d7253683256f 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000055.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000055.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3772ac85c1b445ccbfab643165f84124c4b1be41730cc74b1beb219bb35152ce
-size 118907820
+oid sha256:cb488c5a1b36b57fd9c9798f8490390bc71aefc3cef4039a2d5a8b62e4b50fcf
+size 118988212
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000056.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000056.hdf5
index 38c159b1e0afe038ee2a7f82e85a47ec11e310ad..b59d9c5419c67fabc9b0695760e4b127d26398fd 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000056.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000056.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7f2e9e0050caa743e21c7bef7eeedbea4fe6408fa4db78d33b03c46f57bd1528
-size 124793448
+oid sha256:0052381bddf22135e51c12cf33411c8083a1d37efe46426972dfbab33eb518ec
+size 124874848
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000057.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000057.hdf5
index 26213085dd6a51a567a9a5881f7020852f2e6d43..d114fff231c43a6f2cd37d5d2131025a98cb832b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000057.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000057.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dca0957c5f5d6009748db2a5cd98930a0eb689d22f5cde491492af2b9993364c
-size 137127998
+oid sha256:054fd1d11a15948d9ee726b514309341285b696ec78b685d00595bc3ccb47038
+size 137217350
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000058.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000058.hdf5
index 7d1f45ed48634529b10f5b21ef7d2c91b2c2d140..7989202e0215bdb33ef05c02036b12582df3d5bc 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000058.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000058.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e65409f4ef145684029e84466913195790629c51a7b14fa329b4545be129c2f5
-size 151545298
+oid sha256:01971220a451f522818fd6045ae2627f05c3c9d1f17892d25c19a12c82cdf2ec
+size 151643050
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000059.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000059.hdf5
index c22c7f940c8888c3434e55d54fd6bd2710d21af8..17f463129303275483c718839ade091b7bf81bf4 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000059.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000059.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f34ba981ec469e01db8d241604a967a872338b64b843e1dd6656e36a847c1f75
-size 133695694
+oid sha256:bbd6d9090a373ac0aea39d9fcbcbdcfaba084485baf6c2ad8de8c008efdbc7a9
+size 133781350
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000060.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000060.hdf5
index 0a711e0a187a620f2095af84236e36841ad21619..65a2f7bf36a689fb8cf975051c692a179b78966e 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000060.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000060.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ceb6fcdccc114bee101511f00bd07cbd780b315c6efbac33db93d885ee7586f1
-size 178070896
+oid sha256:a03467b827f8ca1fa62d826dc8c6b8d1330b4808c46863d6e32e1eced4ec77f8
+size 178194072
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000061.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000061.hdf5
index c6754251b6187e9ea27d92ff7c889bd2e58e5855..b56a05e1920045b766cfaa0c3ec564de53f1f9b3 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000061.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000061.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6cce7772294e666e0227501d81e89aec47b87be68199e1130814520d0ad685c7
-size 178068792
+oid sha256:89c7fc2524475cd8b8005d51381ada724b4948f1b18f3405708a5de441f6418c
+size 178195888
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000062.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000062.hdf5
index 1cc4064539f8ca035b731ec0ed29d5c63ae5d185..0e8b8599741b3be9299d875cd825d5e70f7c496c 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000062.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000062.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:306b13f6f28f3f901e085fc6096c8cdbf5929ef1a0c4b93ee12a24d3f7974097
-size 148151832
+oid sha256:9bc7d3f54694424b5abb2e38049c608b93bf4f3c064e9eb4adda1c4a9021074c
+size 148247904
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000063.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000063.hdf5
index 9559a5d82c91a5d8e35aff3456d0264c5868394f..9dddde66362158e076a6aa7b80153131851405ba 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000063.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000063.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:19cb6bbd4ee915f54ad7a2f5924d2f8c1c1df776ed9ffd04c89a7cf929288ee7
-size 148567044
+oid sha256:897bcbf0240035ba7fd746fba35b8eb4e59332f170f17a6c75df08dfc7717a91
+size 148668828
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000064.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000064.hdf5
index 8f34a5a9bf5a24aae256887eab79efda117a841e..51447f7d69ad667cdbf96aa9f5f52f5e35f590b4 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000064.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000064.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dbc7b6bc28952430d9431229861e3e9b1213147b5978f35fbcd05cf8869ac27b
-size 175831260
+oid sha256:c9f65ed412a74dffa2dd0632181e9e0b4a5442bd4cfa141ab46588a08101c4f9
+size 175953428
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000065.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000065.hdf5
index e60d931ccbf65c82ff191221f1eeeb2f7b6f5693..bb1f0efc03f8861c404108ce983c8124b8b8639b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000065.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000065.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:df7f06b294ec6e2ce8990ac8bb8731d5b9c4879d22a90c44d087818c40288f39
-size 146894248
+oid sha256:83750290a5c34001684f888c82685e811e8839fbcf42550bc637ebf492b8b5a7
+size 146990992
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000066.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000066.hdf5
index 52723cffb25b5371ff30071d93237abba0899645..28717c89c4efc1dbc9574e4c655171e256e75143 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000066.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000066.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4d5f114249539a4b435c43c59398e416895737473d5f86e703d055afeaf5d036
-size 162265500
+oid sha256:4c0954044b1e20dfaf3063bbe1d7d8b25a707620c3c1a957777e957a15a2e729
+size 162375796
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000067.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000067.hdf5
index 54da27a8ca0c35ed2560a1e9ba48426e28ca44f7..2b03e0f7cb3b082674464e7525499f3f2d4253c9 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000067.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000067.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8786fdc13349b7c0cb3e1eb3a9830a0b27dc7aee0e9d9b79fd00650df7321998
-size 137241064
+oid sha256:829c70dcca8257862c0e3dbcf86a89171b4b27d81db009533b7b463f4cc2d737
+size 137334112
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000068.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000068.hdf5
index c62f99a6254a2e74def36d4d69a996c90458a828..d755fd1609034357daf28484c8ed50c57e616da0 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000068.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000068.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:50356034f93cfa49fc62a9d259b1203dc9522e102a197d1afbb26447072272a3
-size 176737628
+oid sha256:a959141b3b89ff7e8c1660fe3d6e0fa0757a37dac8ca224ab3a16ba71fc89d58
+size 176859572
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000069.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000069.hdf5
index 7b98bb7338f43c1fa648278de348babf51a111ab..4bb661cc0ca41cb250bf9dbb1c1a9701d7e8b3dc 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000069.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000069.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:69bac265184e928a64cd36235d856b240be8ba0f413544cd9e241f2f1cd16ab8
-size 165182568
+oid sha256:1339bb8434c893151fc480392468b5f13837463cf8e2d8a93361449e10048bbe
+size 165295104
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000070.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000070.hdf5
index 25a9c7c1c2c4b95d971c75148a566fd46e56b8c4..fb96b3bc5be54a10d482725f13570ebdb4e799c3 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000070.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000070.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a8e4aa7f8bb0fddf595e5c831b8a31ea31ab06e0e214b8ac7046cfede6fc7d04
-size 158778428
+oid sha256:5bff0591ae99cbc25e3aa6b0276ccb5b9144c8e7143f8e72720bc9fe82f5d79d
+size 158884580
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000071.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000071.hdf5
index 6f74531d51a89c7f2b4e892dbf0d16923733bbee..85d91cec66ac06a0fb1ac7870bd46511dc217d65 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000071.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000071.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:45fa026772142a799f89a0e64cff3038c03b34e2a39a8b69c210cfe645f87540
-size 143869141
+oid sha256:52a911c5db80bfd4687e535059d477a6466ace6a01b5fdddbcdb098d57c4ef15
+size 143963869
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000072.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000072.hdf5
index 0ee7f58c7962cfc08dbcb75c9bf1c0263aaad39e..b429f161f38e051b3f883b24ee8b11e4f8f5d20d 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000072.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000072.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8bb660e5090d27fe4428db2b03d88e6c40cf88d96bd55acf24f931a46353632e
-size 125239702
+oid sha256:53154d8f31b8fb119553223b5aefde9546f14ab1bd5c709ecda0b5bb7a6d03ee
+size 125320878
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000073.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000073.hdf5
index 33d72c4e2595ee83f268af0c0a125a0c1d62fc7a..cbd8b8166d745326584e682d3d4742140d45a363 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000073.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000073.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b71d39599441beca57b651221f6f8e07b13fd5b33fec31c016d62f65af77132d
-size 130632000
+oid sha256:ce2649c045619a181d06f6b6a51f0252229ab32ccaff44469f18120e47104776
+size 130718328
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000074.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000074.hdf5
index 9195a04d2feac80e3c09bf863af9d2b0c481bb70..b449b8a65feee8e087ea965f58511d76b76eac9f 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000074.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000074.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:587bb36147ceb8b4a977541053ba09a4c33fbc3f5c61616269ccf17c74f44341
-size 142890208
+oid sha256:ebc99296fa8f9cbe32a6a71ebd0de94c7fffa0f002df7a89cf7d3f6d9246d625
+size 142985608
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000075.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000075.hdf5
index bfdcc704d45ebf0e9cb3bcf42203cbaee49bf524..5b5321a177150540e7221ccb4f9c2308d984d7aa 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000075.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000075.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:48fb3bef144fa5248b03f21a6ce1541ae1b214bf82aba470f7f30c6a4ee03fb2
-size 159213942
+oid sha256:465060a26f9b77bd85bcd4f695d77e1b8cd636fd100808ccd738e8dcb82cfc95
+size 159323678
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000076.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000076.hdf5
index acff600e756d14041b07b6336ca5934b43e9ecd2..0bd041d424e5cf429fe92286d0f0815462e2debc 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000076.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000076.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b4782dbc7981271931d56c86f41940cc0d1745fef858a236f5afa3b2f4971e4e
-size 122138579
+oid sha256:22b151fb7517590f8cc40de980a2eb6b2cd42850ec316b23feb0053c3bf65b5e
+size 122219195
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000077.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000077.hdf5
index 4b8e8498b3d07c2c306ee8fef952dbcb820f42ac..da487cb20b187a041d42a690227e924ebf651feb 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000077.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000077.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:53c47090821ca72e2796d73bdd047429f43cd283923dd6abed2f47dafbae61e5
-size 156827736
+oid sha256:9f05db18e135a85320b50e842784da5cd1a63bcb754c41529a55632e0585e20f
+size 156932544
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000078.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000078.hdf5
index 842f7a40fd1fbb5a2c48d957aab309079ea92a65..78ccc5d39c14aa304e5d4027435d6144d706b704 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000078.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000078.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a966ba70284003cbacd2e001ed883f7af6771976bc5fdd42933b5f3d651ead04
-size 144781608
+oid sha256:b76d92deae986b394b28059ce2fb8c5d5b34053dfbf1b150f098e47f35133497
+size 144877008
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000079.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000079.hdf5
index 64b861661585dc3e18ff0c9a33de17e74f608d83..b47c0356c265d2a2617e72fc7dc2b2028745a321 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000079.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000079.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8da19c9c7c6fcf7309fc332f33009ed61ea04d7b83f64e6e341917c27e497377
-size 144805248
+oid sha256:fe40b9a3d91d17511ecf92c95dd4324575b1a902465c4f8d01922807f5acd924
+size 144903448
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000080.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000080.hdf5
index 61f862dae80d3cb1386ae71e5c73cf4720d73101..f8fea749eb850a1d38d91bd50138f4d9b6b0e55a 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000080.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000080.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ad09094996e2aa5836034a99be282323d3c1c311f4973de02c44f109421720f9
-size 165478064
+oid sha256:6822bfe5b4ef0ae20cef255c5ed16832901cb9ba7481ebf7a139f057cc7ddd65
+size 165586568
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000081.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000081.hdf5
index 3c0409cc12cb8235bc658dffeaebf99c1d234ca8..489836c5b3ae1a384fbc8faa5a74a6afad7eeaba 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000081.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000081.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5db510fcb4326a957c3bccc8017ba5642d84fb67e7aea7049d2f70fed6f1e0e6
-size 153538325
+oid sha256:c765fd2982313b0dff5475268bf1eb2f06b0e5496dcc3e211797f570faa64f2d
+size 153640669
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000082.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000082.hdf5
index 120e4d32d96d412e97335e9b91129c10eaa90ca6..c41fe087318ff025ebf5ab3197a217fce35e49f3 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000082.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000082.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a1ff594f2d99af358a10b1777a06a106a47619f1c29e6ed0c129f9163fe1e7dd
-size 131048439
+oid sha256:298e02f12cef6edc5f8ff257fbfdc2ea91a4e282f237e55ce94bf523ef4a1520
+size 131130847
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000083.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000083.hdf5
index c24741a545a4122d85aabd94b0cecceab079d8fc..a6a28f08f215f80e25fe9f8ec082786523e77911 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000083.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000083.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5ae3dc339bf2b41b555a064d15e06a946a61a28d8407dec76f68f1fe00734707
-size 115449855
+oid sha256:f8d19fbd8aa664d18b59035d38affb42ad685ac61be073c5fb59b412622d30e1
+size 115522631
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000084.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000084.hdf5
index 3d87497968d4ae719b62932ebd04e078d4c45453..c04736e6d80dba674333a686569590d9d5ea6a84 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000084.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000084.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ae81f2b3cf94fb86b506016e683bf6d2f198f1530f3c89d80df42f10cc7f5b3
-size 132593035
+oid sha256:7e73cf71c52dc4df432a49056d1e7f28f5a6425f476d06cb6c4ab44000b538f4
+size 132679027
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000085.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000085.hdf5
index 644a178f175ff5d5484ec969f542c1176d9eed9a..c6d06308f089b2a4a0f19822e5c6e190cf800844 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000085.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000085.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5b280057761fdf7df63746143a2ca0321091cee454834af773dd91f9be953d7
-size 109046826
+oid sha256:e360a461ef365c84fc51e719278baf8881968ed64b2cff97dc3e674b6abcefe7
+size 109117698
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000086.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000086.hdf5
index bf9669503b19ef2564e8698ac1181cfa13c89d00..0c12142195d64440a8c4c4d1b9a8f7f5d7542db4 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000086.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000086.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c6f15c6876ad00cb97cff1a148d433cdd021a8ffd18c7d0fba0113639e1d37f3
-size 120562723
+oid sha256:8aaedf1b3b7fa59dbb8e2db9663a38bce83b9016ca15dd7acf3ce32cd619adca
+size 120642667
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000087.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000087.hdf5
index 6b2089647ecf73964059d2892d9bf6b8f95f7fd5..c300f02ad9671719d1e814d02d7513ae3db1f417 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000087.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000087.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:452e939231bb9df7e2460af6bba799705671aaa5b0c69ba1d7096f5dcba6fdba
-size 115477904
+oid sha256:56861669d610ed3aaa5f89d5d26c81179dce2af6b036904a87b3f09d3df0278f
+size 115552136
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000088.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000088.hdf5
index 56788c42346b3e31e38b2670c34b0935f286fa9d..b560d792e1cf363d4c5c4659b320f62ab0ec96f9 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000088.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000088.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d5c1e0447c8a1bc9706255c14458b313071c3c7eec119da9cd292b030f101db1
-size 140760024
+oid sha256:473b9e1267a428b643050d579c88e62a7976a4cbf3cc754d27275c8cf296d35c
+size 140851280
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000089.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000089.hdf5
index e249808de17dcae6cb881ac50a26e49116928cd1..0de7c92905b8acbfaf521ae8265ff406689a7ba5 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000089.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000089.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:89078d596b35863e49b402a9ac7157385a98c53e44208dfc98f5bac23fd42df1
-size 120457568
+oid sha256:852668b0bd83d55821960345a38dd6d0fa0d4068f954a149500ac3829ddfe9e2
+size 120536504
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000090.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000090.hdf5
index d44fd2a0393aa6d65b0de20bfb0839dd42044e41..9ccc4221a123af02a4503cfbf2b77c107171977d 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000090.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000090.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:627e8659f200fec9cdd2fb3de2daa6b866dcf28542dec58c1fdd00a7954cd88b
-size 114204927
+oid sha256:5d3fe1781983c4fe9d7d81f306c8f21a8d3b01682cf505c6b70929cf62cdb5eb
+size 114278151
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000091.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000091.hdf5
index b78e0ce85f31df84be328ce00cf5e2dcf2aef373..0893dd812c7c6b417a3c63b7e1137fbff5bac05b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000091.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000091.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bf26228c83989e9c6f6dbeec1b57e8b00a60b7f97de178c747411208a97505a4
-size 114445644
+oid sha256:5d94feebc63848c3e40464e460ceac44bd3b29d2646a8cb88e05c5e18b9c5058
+size 114517860
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000092.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000092.hdf5
index 87056ca08cfd8d710d761c657964f3931b0c0170..580352aeda6ac414251735c1520d7f61d726fe89 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000092.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000092.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10f7c918f222797071083684a0d855e2603f3b043ff5473583ad4774168938d7
-size 121376313
+oid sha256:e7efd7a2598e09e587a47fd6540927e44454454766c078b4421b6c71076f59e9
+size 121457153
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000093.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000093.hdf5
index 6c8723521cca4295e0592817631d28d9b0f0c91b..3729a3a83e07591ee04fd4648fe28e556dbd5865 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000093.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000093.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2966236850f2ff21918a2372b0906a3297ec5666499947bbbdebbb890325863d
-size 104223150
+oid sha256:05333c7a2e844e48b152e2a69e36ac9d2b0df0cc72edef10682e92a6cb692964
+size 104289094
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000094.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000094.hdf5
index b524fb1e0cb7bc64817d10d545be98c633eeacbd..ea6594b5e24b3c6f179caab8fb34e7bb9ff4188c 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000094.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000094.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:011b477a270e0cd5a6afdaac69277de4b5daa88dc76d55874e293258fe24039d
-size 144813984
+oid sha256:a18763dc3c3ff22194c94ffa80b46342cdfd1b8619e345d8ac47bf608308367b
+size 144908376
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000095.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000095.hdf5
index d1464b7c92ccc249080ef3d16fd90a69c7874f3f..1fec8959e5b570039a34ca288b7bd361719388ef 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000095.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000095.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:539359c355e572db7d07853e2461f200f34f0fb348d5e32e883a14de24d4745a
-size 104269497
+oid sha256:fb8d0a4e833629410628e445c030bf996bb8e16e91b6dfdcb9d6ed6bda3e3713
+size 104336225
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000096.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000096.hdf5
index cf6508690aefac93fef1dcde9f7cd536b78510d2..8eef066cef07b567a841292cb1e62649d5bb1f66 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000096.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000096.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:31d86832757ccf31e9ce2bd6305dff78aa2300f7122bd72d9b68fbc578d98dc5
-size 126865268
+oid sha256:23c090667123cf353d2839b1d405bea23cc1f94fe071a31fa8453e298259026f
+size 126948908
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000097.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000097.hdf5
index a383c6e420cc3b59025cf90825c36cd22e67b2a3..1287116991008a3ea2f464ff7414ae464789c14f 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000097.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000097.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c319ce8c14e996fb6c5676cae8f69796d531b9ba2e702ecd28072f2fb4feb40
-size 116300563
+oid sha256:89f8cbf174527e91d0eb2af20400d12a1d78c59574c80d30bc2ab4fcb2255bbb
+size 116374011
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000098.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000098.hdf5
index 284988ed23bce407e7c4321c5344ac69b47a32f0..151ba0a6d8685bf7623e95c1e17d736cc4fcef0b 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000098.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000098.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e16837ba8a680e47099be6e9eba18bad148c60f42a38a8b999190e3d30b1436e
-size 120937140
+oid sha256:0d08f4fbaa91e321d0cabf80a20622c7c40474c0593d7e150de3ba17452cf147
+size 121018988
diff --git a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000099.hdf5 b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000099.hdf5
index 60d9e2e77a8b04fd9be9c43bbc3cd10648fe8d1b..0c6c027207b4820df7509ee210dd83e653ddecdf 100644
--- a/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000099.hdf5
+++ b/data/RoboDojo_real/fill_pen_holder/piper/data/episode_0000099.hdf5
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea897abb2830481e22bd7cde051ad36a21637ffd3f6f5695443cfffe9c2d8493
-size 134390327
+oid sha256:15701000f3698601a694b74b6525609a2c753746b89de3eab0c025b025789894
+size 134480575