diff --git a/robot_low_dim/p002-packing-0012-allegro-view02.pkl b/robot_low_dim/p002-packing-0012-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..413403ab90158c915d1dba138ad31860cbea2496
--- /dev/null
+++ b/robot_low_dim/p002-packing-0012-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6077b300363cbb06e11d10da45e16faa8232bc435293cb3f6ff2da1d660d0864
+size 92892
diff --git a/robot_low_dim/p003-instrument-0004-allegro-view01.pkl b/robot_low_dim/p003-instrument-0004-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9dcea98e636c5bfa4377fd139c0752b09477641d
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0004-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f8b4aef3a45894d87536309bcf3f027b7e65a6314f8d73e71199637b1eb91e5
+size 36328
diff --git a/robot_low_dim/p003-instrument-0040-allegro-view02.pkl b/robot_low_dim/p003-instrument-0040-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4c10369e8c12157b679798c6895e5550543132a7
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0040-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:086637b1d60036297ca24cde55d73c0d38335e30bd718fb458244fd6b82ecbb5
+size 64968
diff --git a/robot_low_dim/p003-instrument-0054-allegro-view01.pkl b/robot_low_dim/p003-instrument-0054-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ed3557ee1130b5b6fe5e57c21d5dff7113d6b3
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0054-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986d0b0682edd7ce04831962e4493e1cd2691e83e0da961010fb7052959b14a4
+size 141598
diff --git a/robot_low_dim/p003-instrument-0061-allegro-view01.pkl b/robot_low_dim/p003-instrument-0061-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fc42c3d0c115639f43a0ab1309a57fc683a3c73a
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0061-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3604954dd1059d5d97efd7d421148025c0c1bd70d61ca876e0c525592e4e02
+size 77149
diff --git a/robot_low_dim/p003-instrument-0063-allegro-view00.pkl b/robot_low_dim/p003-instrument-0063-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..64364d53b6955a68047d38ba70b7a6c9051909b2
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0063-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b142a84ad9b3cf08780afd8a8a420fe9a6dd5fc03d5c8f66409b64191b11480b
+size 77865
diff --git a/robot_low_dim/p003-instrument-0068-allegro-view02.pkl b/robot_low_dim/p003-instrument-0068-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5dbca32afb78f522c570e2c9f2d02b63dd6be589
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0068-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3aa48d6d75cf7d3c057300fcabeaafaa02bb7f5e6aec7dd1818d57ab4baa5c6
+size 82877
diff --git a/robot_low_dim/p003-instrument-0069-allegro-view01.pkl b/robot_low_dim/p003-instrument-0069-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7acd51736bb4b5fb43d2bd4e9cfbce45ba16b23f
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0069-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d74b7b5e80eed8e1ad94b0abcd958940bf0986289a7bca28089662bbf257b8
+size 90037
diff --git a/robot_low_dim/p003-instrument-0082-allegro-view00.pkl b/robot_low_dim/p003-instrument-0082-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b64e1e1abff4add4b496cabcc2acf266fc032091
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0082-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015d673f289f7b2712fb2eb1db179de822cb9c1e57fd0a7a39e1fb4a5ec4f93f
+size 64252
diff --git a/robot_low_dim/p003-instrument-0096-allegro-view01.pkl b/robot_low_dim/p003-instrument-0096-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d9c2eb6df0e2b7c7f756a85ae59b871f52884f18
--- /dev/null
+++ b/robot_low_dim/p003-instrument-0096-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea601eaf501982376f62988d50fd17672eaf2434ff8d0dbd22aecad0285926ec
+size 90037
diff --git a/robot_low_dim/p004-folder-0022-allegro-view00.pkl b/robot_low_dim/p004-folder-0022-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2c629df3d74f36893df7043a4c7669aea78259eb
--- /dev/null
+++ b/robot_low_dim/p004-folder-0022-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5e3b7b3f0905f31044507e588f5c19a1abca81fac517f47cc8c65ba246019a
+size 79285
diff --git a/robot_low_dim/p005-folder-0014-allegro-view00.pkl b/robot_low_dim/p005-folder-0014-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e94f3d841bbc211561c09a38661a6a9d5a406a9d
--- /dev/null
+++ b/robot_low_dim/p005-folder-0014-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbda4d0511dab8645f0afd6405f6b8727b35aa0fd8db9796b0ba0eb0ad92406d
+size 410807
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0030-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0030-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9a795d6730c787cf526363b3f0e4285a2c4aed01
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0030-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5780da9f73ca202ff12a7e4ab51f431f3341fa37cc87dccbfc304fab874fac
+size 52946
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9181e93ccca385fa8632c63d47484ddcd309abad
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f263687fcd89e69eaaeb8d54c567a81bcf0976915c3dbf9206563a53463bd033
+size 118827
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view01.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..59710a1e1be433b8decfb35a22342dab71969fcd
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0034-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05e7c15f759dcda1213c9378c27b978df610b1f8a4467aec2827402c5ac2c91
+size 118827
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0041-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0041-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..304f9956ad1c7728a8c40e2bee34efdb8513754b
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0041-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1476c43386b2112aeadeed401cdb76b6ecb345f920df63cc26ba58d273f8cdd2
+size 179696
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0042-allegro-view02.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0042-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1d12daa8574cae702c846a112d7829cfd8adf2a6
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0042-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da65c4fc3e0390ab13b66ff9a436f9bc66cf5c5778c0834025affe5d4aa811a
+size 64402
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0046-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0046-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..55c1bf4fb304939799cc65928710ec2daab8280d
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0046-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e1a78052b7ec4725101635c54ff9586352461b2d1a75809013afc0f6888de3
+size 55810
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0055-allegro-view02.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0055-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..602c257a501c5748cca1f21de467cb59af9e289c
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0055-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f2667efa3f06c3ce633656dc31fb8bfab5a60da77237a950c930e51a7efe3e
+size 44354
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0079-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0079-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..41edc3d3c1fb951d69001f1aa56e078495363243
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0079-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28d4113f4dfc2f8109a6639098dfde14b81c4f9de694d0209ab723a7ba955ac
+size 90903
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0104-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0104-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4e8e36348ea851fdd484f596c6904ee05facb016
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0104-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a21afc1158410f2fb62b77f9d12e9989c61e11e95407b8440e8427114a95913
+size 36478
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0141-allegro-view02.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0141-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad457d2fc514fc34cbfc357487a69831ad086b5c
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0141-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e6d136ade5fcef54c106ad2b7fdf7a9a76a271c786d08d97c07c1a53dbb353
+size 136736
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0151-allegro-view01.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0151-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e9ec9298a0dc996774ad9e43d30d8979bbffda99
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0151-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e000c77f684c0c76293ec1685cfe70274e6d4d976edda6a95e304c28ecbc0a4
+size 93767
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0162-allegro-view01.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0162-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..361a3570317dfd8019d17894e8d4341cab90bc9a
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0162-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cae7c7a87356dd3c9cb505dbcfea5f03b021daa69abce706bd2362130ca3e8
+size 140316
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0163-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0163-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..354798b56eaeeebc281e6e703b7c4b5da378ce7f
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0163-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8117f7aca0b675ae2e2cbd8f6c8323e105a65a99b4edad9b8e947474e6bf189
+size 97347
diff --git a/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0343-allegro-view00.pkl b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0343-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bd95f45976eef1ee266136f3ae21725651bd9eb3
--- /dev/null
+++ b/robot_low_dim/p005-instrument-makeup-dog-packing-massage-firstaid-cleaning-tool-0343-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b282ea44a76999dd99ec74d35a9d03dc08721124bf33814f85766c0c2a9064de
+size 126704
diff --git a/robot_low_dim/p005-knitting-tablet-0011-allegro-view01.pkl b/robot_low_dim/p005-knitting-tablet-0011-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..005969cd9618028f9093189efac52f0ea0f1dab9
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0011-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c095663e32227306acc16e1b2629fcffae689e23b4885df545e453e60c6ec2a
+size 56391
diff --git a/robot_low_dim/p005-knitting-tablet-0023-allegro-view00.pkl b/robot_low_dim/p005-knitting-tablet-0023-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5498eb0f827693b519b36c2cd5dfcf05e4122468
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0023-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf934080e84f3b8087a2fc840793896cb5c300eb4350fda060492360e01dd61
+size 43503
diff --git a/robot_low_dim/p005-knitting-tablet-0023-allegro-view01.pkl b/robot_low_dim/p005-knitting-tablet-0023-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ae1c3d5d081c8c0212986fbf3ac3b929d0124dc7
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0023-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181cc50fecb1c24b6e71819f58958c8f7a481623982644e415ed4ddbb33f35e7
+size 43503
diff --git a/robot_low_dim/p005-knitting-tablet-0069-allegro-view00.pkl b/robot_low_dim/p005-knitting-tablet-0069-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fdea0452bfaa62cb146024239fd9645ba6dcd026
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0069-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e3ce6efa504cd77baa767271c97d3b9e362f3da3aeb8acefde9fcd10ffcddc
+size 30615
diff --git a/robot_low_dim/p005-knitting-tablet-0070-allegro-view01.pkl b/robot_low_dim/p005-knitting-tablet-0070-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9b0396377e8c25f0bbfc5f1fb9132ec09b5edfdf
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0070-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b14d16da98b0935755ac718d7195c15c5f969aa51929736d731ec13ba663ad
+size 32047
diff --git a/robot_low_dim/p005-knitting-tablet-0089-allegro-view00.pkl b/robot_low_dim/p005-knitting-tablet-0089-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..81519c28a88f224a3058a7e36bd1f241b78c364c
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0089-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591e9ae78d25a8dae08859197d26e0c0ce553f125f5da0b4cde572eb1846ca6c
+size 27751
diff --git a/robot_low_dim/p005-knitting-tablet-0134-allegro-view01.pkl b/robot_low_dim/p005-knitting-tablet-0134-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bb0e7c92baad0080125bc1bc5ed1523a45ee8ae4
--- /dev/null
+++ b/robot_low_dim/p005-knitting-tablet-0134-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559e4ddc10938fc3ff9207cf1eae4e76b7dcf7759b64148bf42a4d220082c1cb
+size 29899
diff --git a/robot_low_dim/p005-laptop-0009-allegro-view02.pkl b/robot_low_dim/p005-laptop-0009-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..db65d3e9ab3508e3ec8f058d3922792c7823836c
--- /dev/null
+++ b/robot_low_dim/p005-laptop-0009-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac71ae27bd86782eb0d159fd50d41f73ac5236efe70bdb447165d0eda24af5f
+size 89309
diff --git a/robot_low_dim/p005-laptop-0020-allegro-view00.pkl b/robot_low_dim/p005-laptop-0020-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..461a17042a77927c8b86a78d3f41b2b0e1230b9d
--- /dev/null
+++ b/robot_low_dim/p005-laptop-0020-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ab6c993137e6bdca4dab56ed99ad0f77ec57a943f38d0e365012677597d696
+size 38464
diff --git a/robot_low_dim/p005-plant-mindmap-0028-allegro-view00.pkl b/robot_low_dim/p005-plant-mindmap-0028-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..488f21393c8bfea37be089187c39d860981db11f
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0028-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a8bf0b3d9218af21c8021632bf166150af3b5b6c5595a7670579a15e843dc25
+size 65693
diff --git a/robot_low_dim/p005-plant-mindmap-0074-allegro-view00.pkl b/robot_low_dim/p005-plant-mindmap-0074-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4412f7b202f3b8cad73a69e4230a333b1b35e69b
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0074-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12cc33ef8d987b88b19fd026c722c5a736c165ca8f28f19e122cc095c2bdc74
+size 46361
diff --git a/robot_low_dim/p005-plant-mindmap-0089-allegro-view00.pkl b/robot_low_dim/p005-plant-mindmap-0089-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d25e47fbdd932470ed8eaf1f7d9d1022015fc01e
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0089-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed964a6d7f9c1678cfe3220c4ef53ee98a7407c61bfd82b2505965775b60630
+size 75726
diff --git a/robot_low_dim/p005-plant-mindmap-0089-allegro-view01.pkl b/robot_low_dim/p005-plant-mindmap-0089-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aff6195acada351048305744f7febfd44d06c7ef
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0089-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b4dd6c1a1d3b419064317f6db942558899aaa42ca4a5123f4522a0b4fa8357
+size 75726
diff --git a/robot_low_dim/p005-plant-mindmap-0095-allegro-view01.pkl b/robot_low_dim/p005-plant-mindmap-0095-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..488231b06e7c536fe950ed7ddded15b700bdbd10
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0095-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42eb305b68d17a708f7d5aaa5b9540584069846d0818e3a8671f5b56ddd0a946
+size 27745
diff --git a/robot_low_dim/p005-plant-mindmap-0098-allegro-view02.pkl b/robot_low_dim/p005-plant-mindmap-0098-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f7e42c54567fe093bd7f9270e6c0a741c8572ebf
--- /dev/null
+++ b/robot_low_dim/p005-plant-mindmap-0098-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30af929772f8c8122b5a9833c4dbc5db4d336c28be9a5e79e8dc710922e66cc8
+size 47077
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0028-allegro-view00.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0028-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7b5c61c48e0ce8908c85959ca92ae95f3d7c6d23
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0028-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c348a0023390e080cdf646b14027fca6e9a8420d47ff7cf2b1ef059322ed82e
+size 39270
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0043-allegro-view00.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0043-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ef8e7108f4d73f7af154c9a5fdbef7f8a1556945
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0043-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8991cdf97f136342a2d0ecc0f5bb37472af17c09ba4ceccd0a1b421cabba62a
+size 47146
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0052-allegro-view02.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0052-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c05e8d31f921a818108b9db20596cb8a50b1eba9
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0052-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb2250487dc7677fe6d029c41d0590cf1f963b11f1a19f4dbb46274527e5d15
+size 60034
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0190-allegro-view01.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0190-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4e6331f65d50ece85690fc34398265cb729bae
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0190-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5338cf8de13fdeb388fe532712b4c2d06fa920fe6812ea8c2216b3c651e384
+size 37122
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0195-allegro-view02.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0195-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fb2a3b102ecd60c5d8bd33194f9907f1183121ec
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0195-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22bcb5627f354e4b0aaa0292144d9fd73dca7f73373bc3ae5bcf094dbf05aefa
+size 41418
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view00.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bdc590befa0607321a083c2ef590dda26dbb1800
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d0e7902f486349fb5014927583a0a23fa479542d256247d52bc0f70346b89e
+size 52158
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view02.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d54f8127f7ae56aadc136b6a98dfc84bd551bd6a
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0241-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fceabdceae71bb7312ecf968336b9d83b90ba2252bbd41fc7198af2729cf8c5d
+size 52158
diff --git a/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0249-allegro-view00.pkl b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0249-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..30a03015120aac3f1fc34f60f85867c7b99697a8
--- /dev/null
+++ b/robot_low_dim/p005-sandwich-salad-baking-monoply-boxing-0249-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fbdd90488bf1382c57237ec9290e4d1173282411b7b6f825afc9dc863f224a
+size 39986
diff --git a/robot_low_dim/p005-sewing-0009-allegro-view02.pkl b/robot_low_dim/p005-sewing-0009-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..db25aa8d4d63816da2722d04ba081c9376079e8f
--- /dev/null
+++ b/robot_low_dim/p005-sewing-0009-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7312cdac2227a7f2811a86b191eb4bc44b116e836b740a719fdc25a19a3667
+size 148030
diff --git a/robot_low_dim/p006-mindmap-0020-allegro-view00.pkl b/robot_low_dim/p006-mindmap-0020-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4d1a360a28ba54db2391fdf3478fc770be84e3fa
--- /dev/null
+++ b/robot_low_dim/p006-mindmap-0020-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d0ae09bce1892c63bc78a5773c449e3320896201f1ba77da7163646791be83
+size 64959
diff --git a/robot_low_dim/p007-laptop-0012-allegro-view01.pkl b/robot_low_dim/p007-laptop-0012-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e837b8b015cb09a83239e2d22fdcb8b420c2f3dc
--- /dev/null
+++ b/robot_low_dim/p007-laptop-0012-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbdbca9382d66967b9c91bba8546ef9b833d6947481c3a9031de827b1648f12
+size 81433
diff --git a/robot_low_dim/p007-laptop-0019-allegro-view02.pkl b/robot_low_dim/p007-laptop-0019-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7a4d0d20ab14b679b13c604855ab22592e70ec70
--- /dev/null
+++ b/robot_low_dim/p007-laptop-0019-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1784b083f74ed466871f91ff3d9183a5bda0da9ddb3043c0047af5659e59313
+size 75705
diff --git a/robot_low_dim/p007-salad-0042-allegro-view01.pkl b/robot_low_dim/p007-salad-0042-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8eca024f046c7bf0c5377ca7cb7b782ad7d2918f
--- /dev/null
+++ b/robot_low_dim/p007-salad-0042-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a240375bd8e8e9d58165198470f5e83ce676754d9bb883f56bfac3d21e6d5565
+size 117230
diff --git a/robot_low_dim/p008-boxing-0001-allegro-view02.pkl b/robot_low_dim/p008-boxing-0001-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c6fae4a77132f42f04df0590202d1e535eabe63d
--- /dev/null
+++ b/robot_low_dim/p008-boxing-0001-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197177369f73b3308991ee5a6806d3dcf64b3f478f6f1ada5dc989cdffefa5fa
+size 42760
diff --git a/robot_low_dim/p008-boxing-0002-allegro-view02.pkl b/robot_low_dim/p008-boxing-0002-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9b3f8de29893fad3e98a6b8856bff83d9f18562f
--- /dev/null
+++ b/robot_low_dim/p008-boxing-0002-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5608325d91dc0bed748d11bc9836bb66ca4d73854635f2c1c63bae1a24f1fbbb
+size 55648
diff --git a/robot_low_dim/p010-tea-0023-allegro-view02.pkl b/robot_low_dim/p010-tea-0023-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2cda91270b9e50dca82fe372830295c1776d1acb
--- /dev/null
+++ b/robot_low_dim/p010-tea-0023-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0424fb81a57fc86a7f84c4ae2e149339a27cd55dae26f93758e2f4b71ad8be99
+size 185258
diff --git a/robot_low_dim/p011-laptop-0016-allegro-view00.pkl b/robot_low_dim/p011-laptop-0016-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..851de6305e538d3bf7a11caccb9563344ac7bcee
--- /dev/null
+++ b/robot_low_dim/p011-laptop-0016-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e48e7d3032295bd0f5daf5b73e48025dac413e1a19d82e1c9f6f875608aead
+size 29156
diff --git a/robot_low_dim/p011-noodle-0033-allegro-view01.pkl b/robot_low_dim/p011-noodle-0033-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4f23788f49483b51351f3b41b10df9decbb4d315
--- /dev/null
+++ b/robot_low_dim/p011-noodle-0033-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f796aa6ceca0dafb6be31d20d58368f1a0d67ecf971df2591de5a48b2be6b907
+size 49204
diff --git a/robot_low_dim/p012-tablet-0003-allegro-view01.pkl b/robot_low_dim/p012-tablet-0003-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0d055794530a67c0b31ffc5ec73fc2b2c7a0fdf1
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0003-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b47096a08d059dc326a773d3b7e31eb524c7bb4882cfa5ef23d532c8485155e
+size 64240
diff --git a/robot_low_dim/p012-tablet-0043-allegro-view02.pkl b/robot_low_dim/p012-tablet-0043-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f10327f03a9ce9eb20f2aca2fae6a5887b568e49
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0043-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371a058813554ce7638475682656929217b29d129f08dbdc78baca6eb149cd0e
+size 37032
diff --git a/robot_low_dim/p012-tablet-0062-allegro-view02.pkl b/robot_low_dim/p012-tablet-0062-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..283ba77eeb14f17aae6fc1f68d8abb3cf00bfd1c
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0062-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b458c7d2470a76d70730b93b36f5c77e45e2db43ac6a056293fb0c7e42dda2
+size 38464
diff --git a/robot_low_dim/p012-tablet-0096-allegro-view01.pkl b/robot_low_dim/p012-tablet-0096-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..17959a69ba88253c9cb2649c76d410c1ca4f691c
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0096-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb9d6073035183c597acf60fb337a93b693b5a24fd2426400fa375d947d79e1
+size 42760
diff --git a/robot_low_dim/p012-tablet-0096-allegro-view02.pkl b/robot_low_dim/p012-tablet-0096-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7d186a297d9112b20a522fcb72a3af09a034ae3b
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0096-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd5eb82ef95e3b99747f30211a921e5bd6874b266b6670145b05cdceeded2ef
+size 42760
diff --git a/robot_low_dim/p012-tablet-0145-allegro-view01.pkl b/robot_low_dim/p012-tablet-0145-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..428c20757d2fadba308d7bb3dacae02113b49b50
--- /dev/null
+++ b/robot_low_dim/p012-tablet-0145-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4414379bf1883910d08bb699c38bf8aa2c609a657cc66f1bdfdcfd3f4ad284c
+size 30588
diff --git a/robot_low_dim/p013-fastfood-sandwich-0064-allegro-view01.pkl b/robot_low_dim/p013-fastfood-sandwich-0064-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0bae838eb994c39c50dd97319a8f84f4fe3a725a
--- /dev/null
+++ b/robot_low_dim/p013-fastfood-sandwich-0064-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90adb116c5bbf84405236943d45d309ff0f003b3e2c46b91d54590e26ed2bdf0
+size 64989
diff --git a/robot_low_dim/p013-instrument-0007-allegro-view00.pkl b/robot_low_dim/p013-instrument-0007-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3d9c08496dd6f4dbbe7a2bf5b9290573243a323d
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0007-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75fd36a9c72d211c4d725a5c50755b3d7641420309f1423ef69376e1a1c32faf
+size 77149
diff --git a/robot_low_dim/p013-instrument-0028-allegro-view02.pkl b/robot_low_dim/p013-instrument-0028-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a744db15b46446e03b44929b3e8df5b8a3c4d1c7
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0028-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c32a373bac448cd0440008380d04328ea6fc30f97090f353b355075636914a
+size 47068
diff --git a/robot_low_dim/p013-instrument-0033-allegro-view00.pkl b/robot_low_dim/p013-instrument-0033-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2cfdc869c6d7790ff9d2673899baf1a01e294617
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0033-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac26847f462d97d109a40d60e9ecc544788f7ef097eae4f2a4412010bfd3d200
+size 85025
diff --git a/robot_low_dim/p013-instrument-0038-allegro-view00.pkl b/robot_low_dim/p013-instrument-0038-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..285451c068513f5daab46ae75b43286a7a8b4e12
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0038-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cac1b2fa58397298c13de302ddfe73c58345b02ef42108ecd2b37be0ff2c80d
+size 123689
diff --git a/robot_low_dim/p013-instrument-0039-allegro-view01.pkl b/robot_low_dim/p013-instrument-0039-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0901b819e5f3a939a850058e10a49e7fa2280698
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0039-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1ab8697d42dc0b0f33e5fa06fbe21b005a06ccaf0e210651682df0d1657008
+size 130849
diff --git a/robot_low_dim/p013-instrument-0043-allegro-view01.pkl b/robot_low_dim/p013-instrument-0043-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..df8a0210ba703941b45d9bf6f9749980e11c1c9c
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0043-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a04e9241a5a8d0210dafd6909f0383f077c0469c9795469ec4f91ade21739d1
+size 65684
diff --git a/robot_low_dim/p013-instrument-0084-allegro-view01.pkl b/robot_low_dim/p013-instrument-0084-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aeee1cf877fe1ab97acb27e3478830c5ceedd044
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0084-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2fe8ae76cd025de0115b197dba1c0f125713a284c463aea86233022dcf4eab
+size 129417
diff --git a/robot_low_dim/p013-instrument-0087-allegro-view01.pkl b/robot_low_dim/p013-instrument-0087-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d54ccf5cc0579d8009369b42bcb33bdeed0e3dae
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0087-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7637fbf1441b1de1c1031b334a6af023c2f75f67b062bcfcebf2917b86a57ed
+size 170954
diff --git a/robot_low_dim/p013-instrument-0097-allegro-view01.pkl b/robot_low_dim/p013-instrument-0097-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e89bbb3df5f1cfefa0c9ff0a43aee62bc4631995
--- /dev/null
+++ b/robot_low_dim/p013-instrument-0097-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb1a03b9c55ab2b59fcf70e123eb04fd3ac5faf4c821646eca3db29a9a727b2
+size 128701
diff --git a/robot_low_dim/p013-phone-0061-allegro-view00.pkl b/robot_low_dim/p013-phone-0061-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..97b5c9c8b064e5d1b9a165948a9cbe59106e75bb
--- /dev/null
+++ b/robot_low_dim/p013-phone-0061-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28927c27a19096609d4a3a31bb0634803d7c91a9384b131c08a50f96e8bbb0a3
+size 30585
diff --git a/robot_low_dim/p013-phone-0108-allegro-view02.pkl b/robot_low_dim/p013-phone-0108-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..262955c488b46b80c3a097428fc0e7f5d6ca57c4
--- /dev/null
+++ b/robot_low_dim/p013-phone-0108-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b05dbc02fda72a58b0b0873cf5becc688a4ab38ade91c49350ebae6b52315e5
+size 42757
diff --git a/robot_low_dim/p013-phone-0109-allegro-view02.pkl b/robot_low_dim/p013-phone-0109-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..25b77d2f1398d9a6f5e460539d059dda0a7d3640
--- /dev/null
+++ b/robot_low_dim/p013-phone-0109-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b66637591fb1169c750c22ef6cb913974402c5b4207ff809fa0f5abdd535c2
+size 92170
diff --git a/robot_low_dim/p013-salad-0002-allegro-view00.pkl b/robot_low_dim/p013-salad-0002-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..60a245f2da81e874442f0c0a1effc8af0421b217
--- /dev/null
+++ b/robot_low_dim/p013-salad-0002-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39aeafc074d70bc455c35d50008248af1717469296bcd0a2b82212ed30c51c5c
+size 107922
diff --git a/robot_low_dim/p013-tablet-0023-allegro-view01.pkl b/robot_low_dim/p013-tablet-0023-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3ddcf48f01865e371c06b3c2501fbdeac7761ab7
--- /dev/null
+++ b/robot_low_dim/p013-tablet-0023-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a56cf5a2eb9ee37c72188577278e1ba87e1317f68235aee309d92d1ad95dc18
+size 62092
diff --git a/robot_low_dim/p017-baking-0053-allegro-view01.pkl b/robot_low_dim/p017-baking-0053-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5723dedc4335db4a3e666e3af41ef7f0d1bcf28e
--- /dev/null
+++ b/robot_low_dim/p017-baking-0053-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44221f5aea190198c75d2ed50d21f0081f119c80877be2e1081449585564f464
+size 138006
diff --git a/robot_low_dim/p017-gopro-0029-allegro-view01.pkl b/robot_low_dim/p017-gopro-0029-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cdabf27ff6349edf855e1f18d049b12187e402ba
--- /dev/null
+++ b/robot_low_dim/p017-gopro-0029-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2a3b5e762622c3a92a38833a5812c5a93692737af7304dd3c5eddf25d0fb9e
+size 86442
diff --git a/robot_low_dim/p017-laptop-0021-allegro-view00.pkl b/robot_low_dim/p017-laptop-0021-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2143139e68241add75add774ec3a873df8d3c875
--- /dev/null
+++ b/robot_low_dim/p017-laptop-0021-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980f435dfe9cdc720e1c109468e20896d7c03f318461968c735234b918e315f8
+size 42760
diff --git a/robot_low_dim/p017-laptop-0022-allegro-view01.pkl b/robot_low_dim/p017-laptop-0022-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d86c488ff5b4d2b9c278240ca44568c4f3ad48e0
--- /dev/null
+++ b/robot_low_dim/p017-laptop-0022-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e249f4c082a43f78bd55547ec8ac25a6bdd150ea98a831ecbe245e52213db43
+size 37748
diff --git a/robot_low_dim/p017-laptop-0025-allegro-view02.pkl b/robot_low_dim/p017-laptop-0025-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1d6ee08414128f9eca5c005f020a579e91515876
--- /dev/null
+++ b/robot_low_dim/p017-laptop-0025-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca1f18ea7c41123504b576bad9c1875ed27a747b586823a8cb53f6a485bdaf8
+size 62808
diff --git a/robot_low_dim/p017-phone-0005-allegro-view00.pkl b/robot_low_dim/p017-phone-0005-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f0d32bf91ad44feb6d7296e5b0025ce23c4c5104
--- /dev/null
+++ b/robot_low_dim/p017-phone-0005-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aeb359c6eefaa8732009850bb56a29d0186fd0f65f9a6b3744862bcb43845ce
+size 39177
diff --git a/robot_low_dim/p017-phone-0013-allegro-view01.pkl b/robot_low_dim/p017-phone-0013-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f203f93df1575b0dfd68161c9d8f342a670eb881
--- /dev/null
+++ b/robot_low_dim/p017-phone-0013-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67a408edfa1c18771ffa0d254089e183c89e5ebef95756d48a3a21d862db1611
+size 33449
diff --git a/robot_low_dim/p017-phone-0092-allegro-view02.pkl b/robot_low_dim/p017-phone-0092-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e89a800bcbb81bfa1711ee72474306786bec13e9
--- /dev/null
+++ b/robot_low_dim/p017-phone-0092-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67d87fed35a5f0cf9b080b353cada764363d21f827b76460347e9c20def70f4
+size 29153
diff --git a/robot_low_dim/p017-sandwich-0045-allegro-view02.pkl b/robot_low_dim/p017-sandwich-0045-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..87a559ceb2fa3d0e8f4ae545c3ef8ebdfc964135
--- /dev/null
+++ b/robot_low_dim/p017-sandwich-0045-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6b77a78d659828f84a1def0991fa1ef974c074be2b04fbf7cfbe71f757ecfea
+size 54938
diff --git a/robot_low_dim/p017-tea-0018-allegro-view00.pkl b/robot_low_dim/p017-tea-0018-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d23209125accbd6875c5685ee27ea4d85e16292d
--- /dev/null
+++ b/robot_low_dim/p017-tea-0018-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:684afb2b85776226de7c3c049c47cfcd456dd2434c617e07c040128a76125abc
+size 76412
diff --git a/robot_low_dim/p018-boxing-0001-allegro-view02.pkl b/robot_low_dim/p018-boxing-0001-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8d0edbe06bcb65bef675b220fa8dd89b5a1ba0fa
--- /dev/null
+++ b/robot_low_dim/p018-boxing-0001-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f2a9acc2400ae093284dbbbd37afab697ebcdc3aeb660c06d8cd89f6d8e508
+size 99333
diff --git a/robot_low_dim/p018-boxing-0003-allegro-view02.pkl b/robot_low_dim/p018-boxing-0003-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2c356dc8f0dd2073a303d162ddd52fb2d987aeee
--- /dev/null
+++ b/robot_low_dim/p018-boxing-0003-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cea8074d0d53356c06919561abffceadad18d9a593165df3778574bffd8630
+size 51352
diff --git a/robot_low_dim/p018-boxing-0007-allegro-view02.pkl b/robot_low_dim/p018-boxing-0007-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cab49d7a483241c9a50837ac63fc0a31fb321fbc
--- /dev/null
+++ b/robot_low_dim/p018-boxing-0007-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2796a4f0933985018592626dfcbd0f551109f7a56d563b7d6fde2aa9be045179
+size 167362
diff --git a/robot_low_dim/p019-gopro-0035-allegro-view01.pkl b/robot_low_dim/p019-gopro-0035-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d32a506ba39204a7b8a422cd48712cea08b5f15a
--- /dev/null
+++ b/robot_low_dim/p019-gopro-0035-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b9ecbefbda91862fa452195549f4288a657a35b5f6924f88def124f68af9bb
+size 32733
diff --git a/robot_low_dim/p019-gopro-0051-allegro-view02.pkl b/robot_low_dim/p019-gopro-0051-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..72758984e3fc354a8f49abaf01972d7412c4f564
--- /dev/null
+++ b/robot_low_dim/p019-gopro-0051-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514b61e1d4e34f7e52a59546faa066df35b16b8ca2ccc5ba49bd996fc61da920
+size 61373
diff --git a/robot_low_dim/p019-makeup-0023-allegro-view00.pkl b/robot_low_dim/p019-makeup-0023-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..20784b1133b0ccda0b7043485cdf3e90a30f6884
--- /dev/null
+++ b/robot_low_dim/p019-makeup-0023-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9b790ab528e338d4cadc0918f0ea8efb654d4104e60d2bb7125e1cec997b71
+size 86445
diff --git a/robot_low_dim/p020-plant-firstaid-dog-0014-allegro-view02.pkl b/robot_low_dim/p020-plant-firstaid-dog-0014-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6dd4c4346e60c72fca57237326557b8608a17420
--- /dev/null
+++ b/robot_low_dim/p020-plant-firstaid-dog-0014-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:090c817ab947efc1e7605d6e7cdfb81f8229e71defd4b07e7341038bc6ebedaf
+size 47808
diff --git a/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view00.pkl b/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..11c91a883efc815d8d003e48677e4e1155878b05
--- /dev/null
+++ b/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc376a535539c2d2966fba7eb2cb989b8d3c4784036ac5278d7010f98f19ddb6
+size 73593
diff --git a/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view01.pkl b/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..62a62387270e71278b9408f28fd5909e12d9ff8c
--- /dev/null
+++ b/robot_low_dim/p020-plant-firstaid-dog-0020-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9000900930209044952f77e480ee2a8bb840d00a770b570cceca76918f4971b1
+size 73593
diff --git a/robot_low_dim/p020-plant-firstaid-dog-0021-allegro-view01.pkl b/robot_low_dim/p020-plant-firstaid-dog-0021-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b1073dcd1c8a2d3142aa42be67bd602aa7ed35d3
--- /dev/null
+++ b/robot_low_dim/p020-plant-firstaid-dog-0021-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a5d7ce2fe37c0c93750ac47792ea3aa462c8d8a7e90f858109d6b9301edb6c
+size 91493
diff --git a/robot_low_dim/p021-instrument-0030-allegro-view01.pkl b/robot_low_dim/p021-instrument-0030-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9ec447a4a52cb2840f6472824ed328dd25bf44a1
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0030-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c6a86e96ebd8ed5790b7716de58b0b44c0c2fef1ed692979a1424a83ac5729
+size 41340
diff --git a/robot_low_dim/p021-instrument-0033-allegro-view01.pkl b/robot_low_dim/p021-instrument-0033-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bf9d73af724e5db18e2ad912e406b0d1daa46a4a
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0033-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4862282f8690380bf9daa181fa1ea06da650d26188def15c14bcfa0da00fdc
+size 36328
diff --git a/robot_low_dim/p021-instrument-0034-allegro-view02.pkl b/robot_low_dim/p021-instrument-0034-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7cf849c74e524ce40661aea73839fb4202787f26
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0034-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b17d622f0b7a7b17ba089d25587b172511f5c02029604088e82793e0fb0b50
+size 54228
diff --git a/robot_low_dim/p021-instrument-0045-allegro-view02.pkl b/robot_low_dim/p021-instrument-0045-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9e2dc63c859052c6ca5f7319707138934f340cce
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0045-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e90e7ce2235acc02e1a89d8adb849b479019679fb5b1eb8c4813c90151905d1
+size 39192
diff --git a/robot_low_dim/p021-instrument-0047-allegro-view00.pkl b/robot_low_dim/p021-instrument-0047-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a35687b1b03105547fb6cbba3e6198f287a7bfea
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0047-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3dcf40b86895a3f59ed15cc2a7d7b37af255143f722f911e0127518f474e31
+size 81445
diff --git a/robot_low_dim/p021-instrument-0053-allegro-view01.pkl b/robot_low_dim/p021-instrument-0053-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0091b1709a9b75b18b975564d65fb132bb5c4658
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0053-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e1902a56cfbd03067ce7604e6779f68e5457ea8f83104d5b086f74f8a3e210
+size 59956
diff --git a/robot_low_dim/p021-instrument-0054-allegro-view01.pkl b/robot_low_dim/p021-instrument-0054-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0343358665423188af47224c54f86563cf313c25
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0054-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d22c4041852d2ab89451cbded4e65ba63b20b5ae968710bac9a906f7fd9595
+size 59956
diff --git a/robot_low_dim/p021-instrument-0055-allegro-view01.pkl b/robot_low_dim/p021-instrument-0055-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2c45256b293555feffce78592cf9636521ad9bc6
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0055-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2170577967f5d8565a21a451c78e0de620648a62138c5e1d99856b7772c303
+size 51364
diff --git a/robot_low_dim/p021-instrument-0056-allegro-view00.pkl b/robot_low_dim/p021-instrument-0056-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9d976072ff72fe26bfa3330486b31ac18e06b5b4
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0056-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b1d5dce62b4c2497228775e1d321229d47df70e49f41e5f16bda5c4a4819bf
+size 39192
diff --git a/robot_low_dim/p021-instrument-0063-allegro-view01.pkl b/robot_low_dim/p021-instrument-0063-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..172ab759e893e6d9672184920f832fce5aff430c
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0063-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b024ddae47d9595924c324f472122a265c61aa7b9a69868de4c00ec00300aebc
+size 100061
diff --git a/robot_low_dim/p021-instrument-0064-allegro-view01.pkl b/robot_low_dim/p021-instrument-0064-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f56ba90b842be6a418058ee05a856402b27b7be9
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0064-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1af4f91d1b8130c83b33d0e2f0444108fee23985fc7a4ebf693b0ec4c3de8b2
+size 48500
diff --git a/robot_low_dim/p021-instrument-0065-allegro-view02.pkl b/robot_low_dim/p021-instrument-0065-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1f58e108231ae5a0318b3342761e6c9bcf77a06c
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0065-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5d67ab197c094fd4a2d8833d02f9a765fbb43f155776168590f10cbe316014e
+size 58524
diff --git a/robot_low_dim/p021-instrument-0076-allegro-view02.pkl b/robot_low_dim/p021-instrument-0076-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..445b1de5d7d4ad3ec8f0d225d3677a8c2a5cefcb
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0076-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:239f2974e2dc1199cad1b713c5df6fbce694117437909bc03359becd5d422dbd
+size 59956
diff --git a/robot_low_dim/p021-instrument-0081-allegro-view00.pkl b/robot_low_dim/p021-instrument-0081-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8d2a20419f3454c09c11f7d2acad80f0555765a5
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0081-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23344c589cc19712643df4408777561805c0c4faca47036240825eae69355b8
+size 98629
diff --git a/robot_low_dim/p021-instrument-0083-allegro-view01.pkl b/robot_low_dim/p021-instrument-0083-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2105ac849b8d7b8fb9244c9bb12784d3de07d8e2
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0083-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a1fbd4f54759472a99b19207cd2c54cf8eeefceaad2fcc34e7b6018087a7219
+size 102925
diff --git a/robot_low_dim/p021-instrument-0088-allegro-view00.pkl b/robot_low_dim/p021-instrument-0088-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4fd16b338e18566084b10c8858efde70dd8043b4
--- /dev/null
+++ b/robot_low_dim/p021-instrument-0088-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c90c814ad24e941fd2f05724885c9281980d52e08a949a05b1cb09bcdc67eaf
+size 67841
diff --git a/robot_low_dim/p021-monopoly-0056-allegro-view01.pkl b/robot_low_dim/p021-monopoly-0056-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..46c108afb01597701ac17ca9a1a23802633bd7c2
--- /dev/null
+++ b/robot_low_dim/p021-monopoly-0056-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf0e18ba1847bd1c9842e65644b844c4cfa7d9ebe92e463f70ca54ef7ce4beb
+size 61382
diff --git a/robot_low_dim/p022-plant-noodle-0021-allegro-view02.pkl b/robot_low_dim/p022-plant-noodle-0021-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..13afbd629afaf48a40ac3206ce124e38c3fda16b
--- /dev/null
+++ b/robot_low_dim/p022-plant-noodle-0021-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a52c5ceefa75095e0bd8da6f39d602e286fb94395553b074a73a7733ab6f77
+size 53518
diff --git a/robot_low_dim/p022-plant-noodle-0069-allegro-view01.pkl b/robot_low_dim/p022-plant-noodle-0069-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c2df5da5e1d713b0e2d2bb2f7bdfd39df918b164
--- /dev/null
+++ b/robot_low_dim/p022-plant-noodle-0069-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c0046ac093a71fe50a4617d09a21e1ec3d418d951a8d66944de97067074ae37
+size 59962
diff --git a/robot_low_dim/p022-tablet-0135-allegro-view00.pkl b/robot_low_dim/p022-tablet-0135-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9c58805821806b269952ff62c02a7db4cfd836d9
--- /dev/null
+++ b/robot_low_dim/p022-tablet-0135-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149505efa697146a763c14f0ce0b26fe9bfaa6f91fea52c06e14de6aee2ac206
+size 29156
diff --git a/robot_low_dim/p022-tablet-0136-allegro-view01.pkl b/robot_low_dim/p022-tablet-0136-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0271ce62319a540cd549b52dc2e97e210550765f
--- /dev/null
+++ b/robot_low_dim/p022-tablet-0136-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a5a5880eae0aa59306be26624397c66a2ebf70689008f23464ec379551c021
+size 32736
diff --git a/robot_low_dim/p023-boxing-0027-allegro-view01.pkl b/robot_low_dim/p023-boxing-0027-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c5b503ff685002838b73f1a8ee97701be82ec765
--- /dev/null
+++ b/robot_low_dim/p023-boxing-0027-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8338bc227c044cd7a3fb42bcad5e3b3b60cfb19559e76117822eb1eef7216da
+size 103629
diff --git a/robot_low_dim/p023-boxing-0027-allegro-view02.pkl b/robot_low_dim/p023-boxing-0027-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ca9eb6b93c0645cbbc74e81940734d1bb8d45e3e
--- /dev/null
+++ b/robot_low_dim/p023-boxing-0027-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437014d588cda84a2059f3ccbcc3e4a88f0c53b10f70eaca7e7c5e9df430cfc3
+size 103629
diff --git a/robot_low_dim/p023-instrument-0000-allegro-view00.pkl b/robot_low_dim/p023-instrument-0000-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..161fb63974d1e745f4649182ea9738b7e0bcd29b
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0000-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff08b0a363da9716f0591ef4ba247c0c47a7436def1047c79f1765073eac26a9
+size 37044
diff --git a/robot_low_dim/p023-instrument-0004-allegro-view02.pkl b/robot_low_dim/p023-instrument-0004-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b19c4aa6a5b22e8f78b30b5cf9b8725adf99826e
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0004-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d796666d0ee4aea03f09d44d75ef0b20d06e7d78225396fef6218c617e3b1ce
+size 43488
diff --git a/robot_low_dim/p023-instrument-0008-allegro-view02.pkl b/robot_low_dim/p023-instrument-0008-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6bdcc495bcde661eb14deed593d5e45b5e174c8f
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0008-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9236bb76f67bdd771cd7fd5995c6d189c5a8687a8a3c65c5fd231a32592b1b
+size 65684
diff --git a/robot_low_dim/p023-instrument-0036-allegro-view00.pkl b/robot_low_dim/p023-instrument-0036-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9914ed09f538076461c1e4bdfa8e0c14f4145567
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0036-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ac0b97cdc2584155c3d5946893f9ee1f04f5bcd2cd06d7a1e66b57129ad523
+size 62104
diff --git a/robot_low_dim/p023-instrument-0050-allegro-view02.pkl b/robot_low_dim/p023-instrument-0050-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..860745f2a0d5b6035bf0ff4fb94f3332e4aba7eb
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0050-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:985f9fe3a02c84e3c795f10f0d899004a8c093c9e85ea61aedefe1722e0a04b6
+size 48500
diff --git a/robot_low_dim/p023-instrument-0052-allegro-view01.pkl b/robot_low_dim/p023-instrument-0052-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..46c18a39b6b2b7f0bf01ca08c9a4fe68aafb703c
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0052-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:105d43693ec32688ba1db2c1e63c94b29d8650ccaa925d7d4ce42e2e1c6e291e
+size 67125
diff --git a/robot_low_dim/p023-instrument-0055-allegro-view00.pkl b/robot_low_dim/p023-instrument-0055-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..87f4db366700ca5260b923e391ead7615673c1ca
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0055-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7658c4e3aa291d1fad0434271c5fb5b48fee3098e358b16ef0fbb4e592091a5
+size 27020
diff --git a/robot_low_dim/p023-instrument-0094-allegro-view01.pkl b/robot_low_dim/p023-instrument-0094-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5231e4c44f38a2713c8c27163042b43244a2af94
--- /dev/null
+++ b/robot_low_dim/p023-instrument-0094-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571618f52890384edd4e2319354d952b7986bc1c1b5c0abb2f605a7aa92cdd4f
+size 58524
diff --git a/robot_low_dim/p023-monopoly-0005-allegro-view00.pkl b/robot_low_dim/p023-monopoly-0005-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5b17888c517cb59e1c7ad309b7bc3e43447d94bd
--- /dev/null
+++ b/robot_low_dim/p023-monopoly-0005-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e9873a2ae8f2a6a46e707fa5bc071f086f9528670cd203ba86f9da17ecf703
+size 54222
diff --git a/robot_low_dim/p026-noodle-0002-allegro-view00.pkl b/robot_low_dim/p026-noodle-0002-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7b56ffaee642602acd9dd37130291f3f5e22ffe1
--- /dev/null
+++ b/robot_low_dim/p026-noodle-0002-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cca56da1b1058454f09aef6b5640b3cd6a876588c46cdc3614b1a5ecfa9902e
+size 30588
diff --git a/robot_low_dim/p026-noodle-0009-allegro-view00.pkl b/robot_low_dim/p026-noodle-0009-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4ca78d07168b62dba76d2547eb0cf4d4297981be
--- /dev/null
+++ b/robot_low_dim/p026-noodle-0009-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba6528d52fe3ecec0010db6fd0bdaa0f256e06b49a761f3175c7404c8aae4b8
+size 43476
diff --git a/robot_low_dim/p026-present-0046-allegro-view02.pkl b/robot_low_dim/p026-present-0046-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5f6a0edc8a0389c5cc1f2c324a3c2598b042498d
--- /dev/null
+++ b/robot_low_dim/p026-present-0046-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cec1f84ea1e73f5c042f01e4c1486fba230ece5021b8160e9f993d2722c974
+size 62811
diff --git a/robot_low_dim/p027-makeup-0063-allegro-view00.pkl b/robot_low_dim/p027-makeup-0063-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..54f921760e41b99ac5b4c8235e62d82cdee18a05
--- /dev/null
+++ b/robot_low_dim/p027-makeup-0063-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28ca2037fd1f4cfc02610d4113a60826a64dbcf7856b5c77a351aeec64d56d7
+size 132994
diff --git a/robot_low_dim/p028-boxing-0029-allegro-view00.pkl b/robot_low_dim/p028-boxing-0029-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2c014215e8487abf2524186e483780dc643793e4
--- /dev/null
+++ b/robot_low_dim/p028-boxing-0029-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f89cd242c07577d40f8945908e88aab74258539b313cb0feae357583d11779
+size 148030
diff --git a/robot_low_dim/p029-instrument-0006-allegro-view00.pkl b/robot_low_dim/p029-instrument-0006-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a50e0db8d7e586bb7a48b623a5a8bff58b20e751
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0006-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb21f29f210227159b8275cba982bb013699e0c27d59adf10c900ce35ef7ebb0
+size 113665
diff --git a/robot_low_dim/p029-instrument-0031-allegro-view01.pkl b/robot_low_dim/p029-instrument-0031-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..779c1a7f751b4f5c39f6d342a1622a1ef1cfaa7e
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0031-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd23f32de241b33bdc91d1b690e8333e801984e8042fa52c90c132214741202e
+size 97197
diff --git a/robot_low_dim/p029-instrument-0055-allegro-view01.pkl b/robot_low_dim/p029-instrument-0055-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..50400c17b1fb996580424bc7a4a1db05c9f66db1
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0055-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f485eadd65cec4300bd3738079d308d2d4b0c50577a9792a189edb7a4bdb94
+size 44920
diff --git a/robot_low_dim/p029-instrument-0066-allegro-view02.pkl b/robot_low_dim/p029-instrument-0066-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..99385db4a6b583797f27818c2e2b5f506627e019
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0066-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3843a929a7622236a5a70b0a07142fe93ede82e90228db71637a916f15d858
+size 59956
diff --git a/robot_low_dim/p029-instrument-0085-allegro-view00.pkl b/robot_low_dim/p029-instrument-0085-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..915a067c55e25237204b29a5708f3787005cd361
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0085-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c43f78c63f68f713f3cde8de2f2036e49d27648224d898ba83f3d56b2a59b0
+size 72853
diff --git a/robot_low_dim/p029-instrument-0086-allegro-view00.pkl b/robot_low_dim/p029-instrument-0086-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..46a22be1bffcd893624ab5235f4e1a62517d995a
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0086-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe87f38a10f78488fb7ef15be06fe509f87334425b98b08fa489debfca053d4a
+size 168090
diff --git a/robot_low_dim/p029-instrument-0094-allegro-view00.pkl b/robot_low_dim/p029-instrument-0094-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..14a2d69225257acbf48c1ab33f28aea9aa2a4167
--- /dev/null
+++ b/robot_low_dim/p029-instrument-0094-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e7f173ffcf93cedf6eb11d4ab5a9e6406281afe86f1a8c7e6b6925cbac6550
+size 223227
diff --git a/robot_low_dim/p030-laptop-0006-allegro-view01.pkl b/robot_low_dim/p030-laptop-0006-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1760190365e605d9b2fa27b11401fdecf3bcce77
--- /dev/null
+++ b/robot_low_dim/p030-laptop-0006-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a55f15e611bc35290086bcc391855ceb2075d21a987f8c7f16d834abdd3abbe
+size 79285
diff --git a/robot_low_dim/p030-laptop-0021-allegro-view00.pkl b/robot_low_dim/p030-laptop-0021-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..afd7d77a5d99a3c533288b9d609af8e968fb6a2d
--- /dev/null
+++ b/robot_low_dim/p030-laptop-0021-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e69664bbc47dedb72c9d4e983568322658f4644810a925a5418043abf647c5b
+size 32736
diff --git a/robot_low_dim/p032-baking-0036-allegro-view01.pkl b/robot_low_dim/p032-baking-0036-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..191b06a7ce1ecf2a5cab3412ab333e9fb909bc6d
--- /dev/null
+++ b/robot_low_dim/p032-baking-0036-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01f26b7bc6d75d7c458030ad4daf0ec39176d0ce8e9c54ebd3abcc8c4552cb2
+size 52784
diff --git a/robot_low_dim/p032-baking-0044-allegro-view01.pkl b/robot_low_dim/p032-baking-0044-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ae32d27ff446b54a809dc95af0e4dee0d4392e00
--- /dev/null
+++ b/robot_low_dim/p032-baking-0044-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bea869ad3fb0e117b0732ae0c332798e5d02ec628a8db66aaa5c128fecd6311
+size 42044
diff --git a/robot_low_dim/p034-baking-0046-allegro-view02.pkl b/robot_low_dim/p034-baking-0046-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c3b8742c5ccf6756a3bf46e78bd62ce3345682b8
--- /dev/null
+++ b/robot_low_dim/p034-baking-0046-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccffce62ea0fd6e569191b1193212e8bda0439771794f2668e6a96339a2314fa
+size 80001
diff --git a/robot_low_dim/p034-dog-0007-allegro-view00.pkl b/robot_low_dim/p034-dog-0007-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e10f82d3a3b3a211306e02d7835ffddb9488afd1
--- /dev/null
+++ b/robot_low_dim/p034-dog-0007-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f37ea929b8f778a17ff33f703a03ef6f38d4016ebbc9d70259c56fb884d8755f
+size 100756
diff --git a/robot_low_dim/p034-folder-0033-allegro-view00.pkl b/robot_low_dim/p034-folder-0033-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..27007142ffdfb35a603fd431e08d1de0924b01bc
--- /dev/null
+++ b/robot_low_dim/p034-folder-0033-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794900b6256fc83b86d13fdef2dac0a2234ce7371fdda02d0d2a750e01aaf651
+size 79285
diff --git a/robot_low_dim/p034-folder-0033-allegro-view02.pkl b/robot_low_dim/p034-folder-0033-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f75c0684e8f9fb4baff677ce167e71634a8ddcbd
--- /dev/null
+++ b/robot_low_dim/p034-folder-0033-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a75bea399026e68542e4d677a0456a0abd41372e9aa220691f1798ff9eb85c1
+size 79285
diff --git a/robot_low_dim/p034-instrument-0001-allegro-view01.pkl b/robot_low_dim/p034-instrument-0001-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4fa9dd5b5b81e7500ec07b4ba75982f42b94d66c
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0001-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5518190944c45328534f9dbcf43f1ebe2d6788d8daac6fd8078ba9778be5e0
+size 57092
diff --git a/robot_low_dim/p034-instrument-0007-allegro-view02.pkl b/robot_low_dim/p034-instrument-0007-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9edf3b2ca8f0924bcfab79e970a49bd950bc120a
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0007-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee39d701e768103e565faba509cb9fe493eac85197f1643c0d3b6d474b019db
+size 89321
diff --git a/robot_low_dim/p034-instrument-0062-allegro-view00.pkl b/robot_low_dim/p034-instrument-0062-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1f3cec2ac5af7a93acbf97302c5ee787d0731d4f
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0062-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f96ddbb0502c91b6914df372fa7545d6d09c9f227a6a8837394673154884aaa
+size 112233
diff --git a/robot_low_dim/p034-instrument-0082-allegro-view02.pkl b/robot_low_dim/p034-instrument-0082-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ce00e8972c359b60fbc577fc45488cb3378c96ef
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0082-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee39e0d49cf98c5939e04af3afc76a85c406c13b907e0c36d192e6b6452a8ed
+size 89321
diff --git a/robot_low_dim/p034-instrument-0087-allegro-view00.pkl b/robot_low_dim/p034-instrument-0087-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ea39a9a8107f8716703e0f0bd4e8db25020d0a5
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0087-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10649d8f5abf12431a9cd7118af7faf5a0186992c7a61fc2d1fc13de2f20c3e9
+size 81445
diff --git a/robot_low_dim/p034-instrument-0089-allegro-view02.pkl b/robot_low_dim/p034-instrument-0089-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..baa72c9e7a9d88e1c7aea31f66e9326515c61733
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0089-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b0921d8c3cdd7943cb68bc631de36ae1a77b87c4bbe158cb6d0b72ff113086
+size 69273
diff --git a/robot_low_dim/p034-instrument-0096-allegro-view00.pkl b/robot_low_dim/p034-instrument-0096-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f0c1252a67de16ad5cb0f024a5e3790fd8eb4c9a
--- /dev/null
+++ b/robot_low_dim/p034-instrument-0096-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b18a562a18a95e038590a194bda81859229535342ee8f9ebd79a2bb5de6c5b9
+size 90037
diff --git a/robot_low_dim/p034-laptop-0009-allegro-view02.pkl b/robot_low_dim/p034-laptop-0009-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cd446198219f8fbabbdbe884a54836a7e39918ca
--- /dev/null
+++ b/robot_low_dim/p034-laptop-0009-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de30e2a6017b8b1fd8e20c855c84eff56e30e2d26c11632114f1cc35a5ab0baf
+size 147314
diff --git a/robot_low_dim/p034-laptop-0014-allegro-view02.pkl b/robot_low_dim/p034-laptop-0014-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ffb30ee07cc098a2fc475d0b1b93d29061ae7244
--- /dev/null
+++ b/robot_low_dim/p034-laptop-0014-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a000e0d191961ad88e4042843f3d9689ae9f61f2b17d3879ca6a444a842543
+size 54216
diff --git a/robot_low_dim/p034-laptop-0015-allegro-view02.pkl b/robot_low_dim/p034-laptop-0015-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6c723a2672a7800ac3132482c911f7b7eb14a23b
--- /dev/null
+++ b/robot_low_dim/p034-laptop-0015-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf04589d5d50f44bda3c69e6aff49aaf919d3da8b505a4e190c4c4f50727e050
+size 95037
diff --git a/robot_low_dim/p034-laptop-0026-allegro-view00.pkl b/robot_low_dim/p034-laptop-0026-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..37ce50d1c51809c138537dfc1435630f564a8877
--- /dev/null
+++ b/robot_low_dim/p034-laptop-0026-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ce8a6f2b40f58842bc44ab9ec73e44830dee71aa396e86037e039aa78535be
+size 38464
diff --git a/robot_low_dim/p034-laptop-0035-allegro-view02.pkl b/robot_low_dim/p034-laptop-0035-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3eeed50cb0d0fd2db5e155f7486e06f6bd149906
--- /dev/null
+++ b/robot_low_dim/p034-laptop-0035-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4cb402ca850f2c8828dabc7e68bf60cc2c19f1dae18400b6f015100566b34e4
+size 57796
diff --git a/robot_low_dim/p034-makeup-0022-allegro-view01.pkl b/robot_low_dim/p034-makeup-0022-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..927ec94e96d17c44af4a769c61beab0c5fb789dd
--- /dev/null
+++ b/robot_low_dim/p034-makeup-0022-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdfcbf1cdee11c2137857f49cc60dd727ba3d6aa4609e34d8f2e8489920ff5ad
+size 215339
diff --git a/robot_low_dim/p034-plant-0009-allegro-view00.pkl b/robot_low_dim/p034-plant-0009-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c707c8d9d331888a47d1bd503165a73c340eecb2
--- /dev/null
+++ b/robot_low_dim/p034-plant-0009-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f2592fa53e0ba7fdb7c3e6e5961438d2770f90f0875358f4a59287c83f0abb
+size 117946
diff --git a/robot_low_dim/p034-plant-0024-allegro-view01.pkl b/robot_low_dim/p034-plant-0024-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e2c9509e43c01593deef6271ed65d35ffa82acdf
--- /dev/null
+++ b/robot_low_dim/p034-plant-0024-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383a1f82c6b793a9e28dfaffd85a7ad79bb9b259687377b739e2ff5e140603b5
+size 72838
diff --git a/robot_low_dim/p034-salad-0020-allegro-view00.pkl b/robot_low_dim/p034-salad-0020-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..66638112a22ee2b38520f5b327c7e9d1f734a628
--- /dev/null
+++ b/robot_low_dim/p034-salad-0020-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09dd4726fad4fc7964962c2abd7d55f5eec081b37e215940af4be595f4ad487d
+size 137287
diff --git a/robot_low_dim/p034-salad-0020-allegro-view01.pkl b/robot_low_dim/p034-salad-0020-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..eed7511ecd12de5a7192811fe159e870cf38d1be
--- /dev/null
+++ b/robot_low_dim/p034-salad-0020-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bac96e2855b0bac6a88435c8a2a5ee19d132881c4b10115d862e0b6eecbb0d98
+size 137287
diff --git a/robot_low_dim/p034-sewing-0013-allegro-view01.pkl b/robot_low_dim/p034-sewing-0013-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b6a288d168c074c6fbb4123b86e21ba9903e9682
--- /dev/null
+++ b/robot_low_dim/p034-sewing-0013-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cb9c51af45ebd1b8d7eb3ec05c7a477997693ab58def9ee94fa033359605c0
+size 208179
diff --git a/robot_low_dim/p034-tablet-0009-allegro-view00.pkl b/robot_low_dim/p034-tablet-0009-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b4975fb5d25fcf712ad9d11277abc3a9985965ec
--- /dev/null
+++ b/robot_low_dim/p034-tablet-0009-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e1165c9ea6fbafe8c3a43be0c233410b1a9991bed05c729898da9df36ecbd8
+size 52068
diff --git a/robot_low_dim/p034-tablet-0122-allegro-view00.pkl b/robot_low_dim/p034-tablet-0122-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4ac920ced747b6972a92e5eb7a88ba367c3aa131
--- /dev/null
+++ b/robot_low_dim/p034-tablet-0122-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5134d8e2218a9c80c2cdf2a1594b3bac25ec86062c10bcd411459c48f7660c
+size 74989
diff --git a/robot_low_dim/p034-tablet-0143-allegro-view00.pkl b/robot_low_dim/p034-tablet-0143-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d68ecbf4ed7758df2917b760f87108748cd5275e
--- /dev/null
+++ b/robot_low_dim/p034-tablet-0143-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756b156cea161aaa34c1a0791c8692d5b362adde5bd26eae592123201650e6ce
+size 47772
diff --git a/robot_low_dim/p035-boxing-0028-allegro-view01.pkl b/robot_low_dim/p035-boxing-0028-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9e52b23e2ced5d15829d8caffebd5db80060f81e
--- /dev/null
+++ b/robot_low_dim/p035-boxing-0028-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b203a342b77af5fffacd9988142ab19655cf769fd533c9f8278eb6ba3255b6
+size 110073
diff --git a/robot_low_dim/p035-dog-0027-allegro-view01.pkl b/robot_low_dim/p035-dog-0027-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4f007bcf521ed35a145d9160ad45431654a623cf
--- /dev/null
+++ b/robot_low_dim/p035-dog-0027-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d813a72c8e60e1321804e960f5474b829328c3bf81d76467b716e60312dee45a
+size 27715
diff --git a/robot_low_dim/p035-instrument-0001-allegro-view02.pkl b/robot_low_dim/p035-instrument-0001-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6a69ace7aa7a3942ee9c5f4889702353538d58ea
--- /dev/null
+++ b/robot_low_dim/p035-instrument-0001-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:623306629409e9d0b89f41217d88259c070b803b308ca90ad017dcc1788e49bd
+size 44920
diff --git a/robot_low_dim/p035-instrument-0032-allegro-view00.pkl b/robot_low_dim/p035-instrument-0032-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd2b19070109ad14919188105119ad877a3dd48
--- /dev/null
+++ b/robot_low_dim/p035-instrument-0032-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26e9bc44b1ab8daf6c484d90cda0e27ae2de7b32a85bcdb90e8fc4554256548
+size 42772
diff --git a/robot_low_dim/p035-instrument-0036-allegro-view00.pkl b/robot_low_dim/p035-instrument-0036-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4132731eb95f6a5efe84106ca1f978289fa54c69
--- /dev/null
+++ b/robot_low_dim/p035-instrument-0036-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747327bf53144731be584ec755c0904e3c9bc31532fe7ee411946df74c6cafc9
+size 112949
diff --git a/robot_low_dim/p035-instrument-0049-allegro-view00.pkl b/robot_low_dim/p035-instrument-0049-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ae1f0537547a6596e94ab0f04d5407e1a8d06a5
--- /dev/null
+++ b/robot_low_dim/p035-instrument-0049-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d823ba42a071b57e707bd23f09fdd36bac02a9f42c7c4ad8a5b35cb71ad752d
+size 90753
diff --git a/robot_low_dim/p036-sandwich-0022-allegro-view01.pkl b/robot_low_dim/p036-sandwich-0022-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f3ad92bda5f336867b4e189af36aa39f73844c07
--- /dev/null
+++ b/robot_low_dim/p036-sandwich-0022-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62eb18df32f6955d2734d182653f45859b69ed5098239f86434a1aa224c934c0
+size 73563
diff --git a/robot_low_dim/p039-baking-0043-allegro-view02.pkl b/robot_low_dim/p039-baking-0043-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cd2da05c3a8bb9ed6a27be96079c8fa9edbfbec9
--- /dev/null
+++ b/robot_low_dim/p039-baking-0043-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:913125962eb7b1420525bd5262e00018c6339ff8a233fb64c795cee3dc6b3988
+size 34168
diff --git a/robot_low_dim/p039-fastfood-0009-allegro-view00.pkl b/robot_low_dim/p039-fastfood-0009-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..977ddf76804e07689915bc6b0c7b84fb6a071438
--- /dev/null
+++ b/robot_low_dim/p039-fastfood-0009-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504c80a662ad058959f2341b2d0da7787cc1124d4896a8589fb155953e8c8dbb
+size 59234
diff --git a/robot_low_dim/p039-salad-0002-allegro-view01.pkl b/robot_low_dim/p039-salad-0002-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d829beff422fb226ce2ea266baba4769dfdb2a23
--- /dev/null
+++ b/robot_low_dim/p039-salad-0002-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ecaa0a105a831316549da2fe929e0072bbfa0f01a70d92d1b8ce6f812b3cd85
+size 68542
diff --git a/robot_low_dim/p039-sandwich-0046-allegro-view02.pkl b/robot_low_dim/p039-sandwich-0046-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1126e7fa9ab91196e1436861787ea82ba04dbeaa
--- /dev/null
+++ b/robot_low_dim/p039-sandwich-0046-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d259040fce1f18a25a2ebd56fdaca1768df3e0bdf4bab3231248382ba34be3a
+size 71415
diff --git a/robot_low_dim/p039-tea-0015-allegro-view02.pkl b/robot_low_dim/p039-tea-0015-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..45e95f576ba5cef7c956088974ac3851da97affa
--- /dev/null
+++ b/robot_low_dim/p039-tea-0015-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea7eb01fc6ab4ffa47fa12dda0d58c8f8850241c6bdc6b197857f86cfb55374
+size 84288
diff --git a/robot_low_dim/p041-boxing-0001-allegro-view02.pkl b/robot_low_dim/p041-boxing-0001-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ebb5a4bda36f0ee86389b42cfa2882f6f53a7e5
--- /dev/null
+++ b/robot_low_dim/p041-boxing-0001-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae38950615781d514204a8f390bb85eb8421e4ebb6492a60990097b4a45dcb3d
+size 66397
diff --git a/robot_low_dim/p041-plant-2-0005-allegro-view01.pkl b/robot_low_dim/p041-plant-2-0005-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..30915f344d02155016fe00eb39ec31e622b603e9
--- /dev/null
+++ b/robot_low_dim/p041-plant-2-0005-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdf77eda4b6f5d1fbdfd9306ec284ac43e0618921cda9d0fc4a84d2adac75d2
+size 89312
diff --git a/robot_low_dim/p042-boxing-0006-allegro-view01.pkl b/robot_low_dim/p042-boxing-0006-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b69b5f25e4a1497a4afb2dd77c1da1eca4dea496
--- /dev/null
+++ b/robot_low_dim/p042-boxing-0006-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70253c3f390787d4fa5b5429aac1cef5d374685a0e38e6ce0092edf9df424d6b
+size 53500
diff --git a/robot_low_dim/p042-dog-0007-allegro-view01.pkl b/robot_low_dim/p042-dog-0007-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8788d6fe72faf594a349e7379c81f90632dff96c
--- /dev/null
+++ b/robot_low_dim/p042-dog-0007-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05c00c9eb590e2ea201e62079ec5f2d6f6b641f51885dae6d7a5f742d1460f9
+size 47047
diff --git a/robot_low_dim/p042-dog-0007-allegro-view02.pkl b/robot_low_dim/p042-dog-0007-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3ae27ad4716409aa206bf58d35436145cc1b250a
--- /dev/null
+++ b/robot_low_dim/p042-dog-0007-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcec849e480267adc728244171cd7b8e425b618219e2da0346fb0c8153adc524
+size 47047
diff --git a/robot_low_dim/p042-dog-0012-allegro-view01.pkl b/robot_low_dim/p042-dog-0012-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..73af2df9b1f7345e38e3f3e1518734735f37c8d0
--- /dev/null
+++ b/robot_low_dim/p042-dog-0012-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b8130ae7e01901b651ef2973d00f4cd095f6a59856477cc052d8fcb882f9d43
+size 64231
diff --git a/robot_low_dim/p042-dog-0014-allegro-view01.pkl b/robot_low_dim/p042-dog-0014-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2daa75e85c696462da354ff11a82e6a9df359a1c
--- /dev/null
+++ b/robot_low_dim/p042-dog-0014-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb55eebdfb74c3a138bba7144abfa8011ab30a43c8c6ee65472579dd56f92d46
+size 91448
diff --git a/robot_low_dim/p042-dog-0027-allegro-view00.pkl b/robot_low_dim/p042-dog-0027-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b628f307c7f4221366c3fd8864566dba388fb23f
--- /dev/null
+++ b/robot_low_dim/p042-dog-0027-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ae99e9b4fa6b071a25415e77f6b7f538eb737407be0ef244886d20f5f33e84
+size 42751
diff --git a/robot_low_dim/p042-folder-0025-allegro-view00.pkl b/robot_low_dim/p042-folder-0025-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dd7f9a72b199746af084bf9aba5eccaa1dd4f0e1
--- /dev/null
+++ b/robot_low_dim/p042-folder-0025-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:239422e6965fe2886554c850ab4b61b177f8143fa9dcf67c0acf722d4cab39c0
+size 82149
diff --git a/robot_low_dim/p042-gopro-0008-allegro-view01.pkl b/robot_low_dim/p042-gopro-0008-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..75c63b7554969db5ba2201b4d1a3e1a8f800e83e
--- /dev/null
+++ b/robot_low_dim/p042-gopro-0008-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170ea3969232899e3edc6d04b275db82910cf2138abe2d99dd475e969640ae38
+size 37029
diff --git a/robot_low_dim/p042-instrument-0002-allegro-view01.pkl b/robot_low_dim/p042-instrument-0002-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2413b2cfb4865f83ca2c85c167d05f5c7bceafd0
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0002-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cf62d0f1c7f609d96580bc679e64c7378d42dd11f6379933bfba812dbe3ac00
+size 78581
diff --git a/robot_low_dim/p042-instrument-0030-allegro-view01.pkl b/robot_low_dim/p042-instrument-0030-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b956e46fc9ef6c0a98747a386912dd7356eeedae
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0030-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c4a46f65e47484919aed576c373496484960de998ef82a11305c80a5ab66b4
+size 46352
diff --git a/robot_low_dim/p042-instrument-0034-allegro-view00.pkl b/robot_low_dim/p042-instrument-0034-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5e777e2ef5014c019b2dbb65a1e98ccfb6e6f020
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0034-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f6aaf6a7520fd2a34dce4043f9859e8111432a352e8eca9cfcdb07f0822884
+size 59956
diff --git a/robot_low_dim/p042-instrument-0034-allegro-view01.pkl b/robot_low_dim/p042-instrument-0034-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ae8a707af504f9d20e91dd6219c82ccac4fe62a
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0034-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf2aba9d4c864d8791eaa112bb867f5435eb5950f1bfa84d735aed5311fdb1e
+size 59956
diff --git a/robot_low_dim/p042-instrument-0037-allegro-view02.pkl b/robot_low_dim/p042-instrument-0037-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c44e8493d1abd3612df07a07a4cd6212f5895c17
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0037-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e74bc2feece7f0a10dc2d33df91fce9b76dcf5de263996540922bd8db5612aa
+size 87173
diff --git a/robot_low_dim/p042-instrument-0060-allegro-view00.pkl b/robot_low_dim/p042-instrument-0060-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fc993f1cf964e5367fb3bedf69b701804548400f
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0060-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebac433d182de711f1ff3e1f83db385f229137e1a69bfcf23b5329e740db040f
+size 37760
diff --git a/robot_low_dim/p042-instrument-0063-allegro-view02.pkl b/robot_low_dim/p042-instrument-0063-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b76cee4d166bb89c8ae79a959ad8a9233167c07e
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0063-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5669438f920abcbfb6255d908d1603196a9025943d1eaef40e790f5ef9070df4
+size 116529
diff --git a/robot_low_dim/p042-instrument-0083-allegro-view02.pkl b/robot_low_dim/p042-instrument-0083-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3fcc4daea1e817a74cebc4495206f0286cd74321
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0083-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6d2f19a5a3777daf70eec5dccbc572a29070cbad5c94afc3729ad8a4f7ef70a
+size 124405
diff --git a/robot_low_dim/p042-instrument-0095-allegro-view02.pkl b/robot_low_dim/p042-instrument-0095-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..27e2fdaf3c33016dee33a99c165c27b1b2e28c97
--- /dev/null
+++ b/robot_low_dim/p042-instrument-0095-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092d3b8cc83fa84e145ae3622a7f52e5df1b0ec7ca18cf59d96a2fe028aec3d4
+size 109369
diff --git a/robot_low_dim/p042-laptop-0010-allegro-view02.pkl b/robot_low_dim/p042-laptop-0010-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1fd61603b0aedd08819a68cdc6da49258acbd8ea
--- /dev/null
+++ b/robot_low_dim/p042-laptop-0010-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dc4e6c71959211ae60aee0dfdfac682c4b945398346f34a629f7ccb76347d1
+size 69977
diff --git a/robot_low_dim/p042-laptop-0011-allegro-view02.pkl b/robot_low_dim/p042-laptop-0011-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..db0b96690e12efa5917367bd4596ab012ed4ef1f
--- /dev/null
+++ b/robot_low_dim/p042-laptop-0011-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b240562eab165b5ebef022ff964a3b1c61b72fcf00da1327c2c405e8f781289
+size 48488
diff --git a/robot_low_dim/p042-laptop-0021-allegro-view00.pkl b/robot_low_dim/p042-laptop-0021-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f922b2cc7e1c8929df2fc127f0613b662c3b1306
--- /dev/null
+++ b/robot_low_dim/p042-laptop-0021-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22967b238771a2e6634db8a6d099e64d28a8546ced00fcb9367803e09f4831e7
+size 39896
diff --git a/robot_low_dim/p042-laptop-0025-allegro-view02.pkl b/robot_low_dim/p042-laptop-0025-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..772ac058299c45f96cad4b47d57464742186fe07
--- /dev/null
+++ b/robot_low_dim/p042-laptop-0025-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1812b14fd6f7c58568f74efa5d3493d59a26d26f9c69c73e5169f1cbd8ae6975
+size 44908
diff --git a/robot_low_dim/p042-makeup-0032-allegro-view01.pkl b/robot_low_dim/p042-makeup-0032-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..25652f0d0a69e8119454a1c4cd1afc1ef37bd29f
--- /dev/null
+++ b/robot_low_dim/p042-makeup-0032-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ac220c5fd0338e37aeadcf72f12cc392dfe04c4595fae1c30508909eecbf89
+size 90025
diff --git a/robot_low_dim/p042-makeup-0060-allegro-view02.pkl b/robot_low_dim/p042-makeup-0060-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d865d95ec8fc22ba35f4857f1359818c9f76e3a1
--- /dev/null
+++ b/robot_low_dim/p042-makeup-0060-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07abea955c090ea2fd49d88b95dd560d0e74d0a83e4346788df46904c681ce8
+size 121529
diff --git a/robot_low_dim/p042-monopoly-0021-allegro-view01.pkl b/robot_low_dim/p042-monopoly-0021-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f8197fb3ff38cc33bf1a475916fee30b9a4510b3
--- /dev/null
+++ b/robot_low_dim/p042-monopoly-0021-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:705e3a91b58b76ac7d085ebeaebafd0e6f3ab1fa1ccf405abbe6389afc7e40b6
+size 75711
diff --git a/robot_low_dim/p042-noodle-0013-allegro-view02.pkl b/robot_low_dim/p042-noodle-0013-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..decd77ca550e62ad27540a9cac1f07e2dbaefcbc
--- /dev/null
+++ b/robot_low_dim/p042-noodle-0013-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ac57518ace179c1fa9e519fc8bee0b0ffcb58e3c03e36325df58ea5ec601d5
+size 82149
diff --git a/robot_low_dim/p042-noodle-0014-allegro-view02.pkl b/robot_low_dim/p042-noodle-0014-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..33262429de982220e037b955ff39683ef72472d0
--- /dev/null
+++ b/robot_low_dim/p042-noodle-0014-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff79fa4a59f0399f3422298e40093e1d0a030c26670ed5b8b1600a446fbea1b
+size 63524
diff --git a/robot_low_dim/p042-noodle-0039-allegro-view00.pkl b/robot_low_dim/p042-noodle-0039-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5320b3a264e7f904fbe2caef6a5b220f9b86b183
--- /dev/null
+++ b/robot_low_dim/p042-noodle-0039-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4003da26b5b0e652611ae16c2f44d0e3d6ad7c7f53f41717325c72a58e3ab714
+size 67113
diff --git a/robot_low_dim/p042-plant-0017-allegro-view00.pkl b/robot_low_dim/p042-plant-0017-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ede68dd7f29dfb39f26f7855a55aeb617b34fa12
--- /dev/null
+++ b/robot_low_dim/p042-plant-0017-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4b49627e72d1dae8b93b9eeb22e4d10581b7345beb82d80cb5913e53df43103
+size 175235
diff --git a/robot_low_dim/p042-plant-0019-allegro-view02.pkl b/robot_low_dim/p042-plant-0019-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ed874d417289bf022f40c323ae60a9bd9f498d6a
--- /dev/null
+++ b/robot_low_dim/p042-plant-0019-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4280ffb97ee1c89ab45a97e8a3d4411d237cefb93651bc8b4bae50d42a294977
+size 44905
diff --git a/robot_low_dim/p042-plant-0024-allegro-view00.pkl b/robot_low_dim/p042-plant-0024-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bc72133d68a15e1b36bfc199b648ff6c9b52bef5
--- /dev/null
+++ b/robot_low_dim/p042-plant-0024-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b35570de3c49309f5149936013db5d24522a8e5d289059a365e64786b382e812
+size 56361
diff --git a/robot_low_dim/p042-tablet-0023-allegro-view02.pkl b/robot_low_dim/p042-tablet-0023-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fe7ed11aba9ac353dde2b3b5cfb7adbf7b584729
--- /dev/null
+++ b/robot_low_dim/p042-tablet-0023-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39bbeaaaacbff79a2dd73e68f3b8fa3227ed31112aea6e08f328d2fbb30c7736
+size 88593
diff --git a/robot_low_dim/p042-tablet-0056-allegro-view02.pkl b/robot_low_dim/p042-tablet-0056-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..760ee2848a878f7067d12c246a9488a42ad0a994
--- /dev/null
+++ b/robot_low_dim/p042-tablet-0056-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbab57eba28393a45620946ced2bba08555e42f1edd615145e493734eabfe06c
+size 55648
diff --git a/robot_low_dim/p042-tablet-0144-allegro-view02.pkl b/robot_low_dim/p042-tablet-0144-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..df0b1358fb9b2ba4c4d3a695afbb716c421ca8f9
--- /dev/null
+++ b/robot_low_dim/p042-tablet-0144-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91df280ecf3015325c78df4b34009207b08137bca8a330f4603e75d7fa836203
+size 74273
diff --git a/robot_low_dim/p042-tea-0018-allegro-view00.pkl b/robot_low_dim/p042-tea-0018-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a9c338fe4cc7ba6217f91cf6ace1630031e4039c
--- /dev/null
+++ b/robot_low_dim/p042-tea-0018-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe43929d18cf0ed5fc8715416b1e044b6cc5e8ac2fdeec6ec8e0772752800e06
+size 37023
diff --git a/robot_low_dim/p042-tool-0026-allegro-view01.pkl b/robot_low_dim/p042-tool-0026-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e646749967c5b95ec35474bc532881d0078ba65c
--- /dev/null
+++ b/robot_low_dim/p042-tool-0026-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9acb15bd5a305122201ed99fb141b89ab69205792746df7935d74ada86793499
+size 31298
diff --git a/robot_low_dim/p043-folder-0011-allegro-view02.pkl b/robot_low_dim/p043-folder-0011-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..91323e8141f8c418ab3db38c23d43d7e200e7e11
--- /dev/null
+++ b/robot_low_dim/p043-folder-0011-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829e0ddd808c4a45b0669a311ccc0c2cd1d1f66f165e3e430cecd43df62fb1b0
+size 47772
diff --git a/robot_low_dim/p043-folder-0022-allegro-view01.pkl b/robot_low_dim/p043-folder-0022-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1ee376224e1b7fe09bf1503745af6c6e04faf4f5
--- /dev/null
+++ b/robot_low_dim/p043-folder-0022-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b9a641c26ab3683ffa20dbf9ea6e5dba722656244075aea6c6869822df1b65
+size 84297
diff --git a/robot_low_dim/p043-plant-0023-allegro-view00.pkl b/robot_low_dim/p043-plant-0023-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ca69b22c42af6580bd8e37703537d8fc8612605d
--- /dev/null
+++ b/robot_low_dim/p043-plant-0023-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6aa57b7fa6e5e7a86a0361774f45b0ebcf6ce94d636b7ac9ccbf4ca0edf4506
+size 83578
diff --git a/robot_low_dim/p043-plant-0025-allegro-view01.pkl b/robot_low_dim/p043-plant-0025-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f2b656804ade94525b83b08fabbccd5f95edead6
--- /dev/null
+++ b/robot_low_dim/p043-plant-0025-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7332d6dedc57d10b730c26a603e1c2e1089d0c4fd34bc0509cf0f1202b140196
+size 61373
diff --git a/robot_low_dim/p043-plant-0027-allegro-view00.pkl b/robot_low_dim/p043-plant-0027-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1ad3bfc24e4bbb48f81c692aad7ab07fbab08606
--- /dev/null
+++ b/robot_low_dim/p043-plant-0027-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2292a7e5c491ad6acb23f23aa41df8252867bf7c5b8385995ac3d6e77cdcdfec
+size 47053
diff --git a/robot_low_dim/p043-plant-0028-allegro-view01.pkl b/robot_low_dim/p043-plant-0028-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bcfacd0cfeeb1e0ead51f6080027ee3273481036
--- /dev/null
+++ b/robot_low_dim/p043-plant-0028-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc11b9547e9e5f1404239a569bf25da7f47f5896810a10b872cd48ebf99d121c
+size 47053
diff --git a/robot_low_dim/p044-dog-0009-allegro-view02.pkl b/robot_low_dim/p044-dog-0009-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e1e1b7bc50944704444602db4c39c07c92a4f64f
--- /dev/null
+++ b/robot_low_dim/p044-dog-0009-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44b2518c0040d622866b3ad9245a0e22705fbea3e15d6d80076e7d967909cec
+size 62799
diff --git a/robot_low_dim/p044-salad-0014-allegro-view01.pkl b/robot_low_dim/p044-salad-0014-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b22da0662e497ea1517688955b7895837d6952c3
--- /dev/null
+++ b/robot_low_dim/p044-salad-0014-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158206e41999fd828761392a7c9b8f06d628f01aa7ee649a0ab87412152b24d6
+size 78566
diff --git a/robot_low_dim/p047-folder-0041-allegro-view00.pkl b/robot_low_dim/p047-folder-0041-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1a6425b8c1cdc467c5af6de782a67a8b6a5b81be
--- /dev/null
+++ b/robot_low_dim/p047-folder-0041-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2eefeb27d48cd3a012d754f29a2c7f7ced8943e704dc9eab94cd987ad62e6c
+size 67113
diff --git a/robot_low_dim/p047-laptop-2-0017-allegro-view00.pkl b/robot_low_dim/p047-laptop-2-0017-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..32bd8228e5d3b4be906744d0380e5e1e271e1ce3
--- /dev/null
+++ b/robot_low_dim/p047-laptop-2-0017-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd086f5af106268a09c64f1d85091e56753c8dce3e6b14bf1329fdaf1c5caef
+size 35606
diff --git a/robot_low_dim/p047-laptop-2-0023-allegro-view01.pkl b/robot_low_dim/p047-laptop-2-0023-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dd960aa691401ff4218d52fbd5e79b15e4dd4269
--- /dev/null
+++ b/robot_low_dim/p047-laptop-2-0023-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8becf235b3022a30205f9b5fd09aa52b16aeca4b398693fc231cb7e5b57770
+size 42766
diff --git a/robot_low_dim/p047-laptop-2-0024-allegro-view00.pkl b/robot_low_dim/p047-laptop-2-0024-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8717e73dd046c6f8fdd1ad267d7a69eb0e2b5021
--- /dev/null
+++ b/robot_low_dim/p047-laptop-2-0024-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e51a5494239dc2c0b4b53d3f78981c9f20bd0ce4d8f5000296aaa1043d1a340
+size 57086
diff --git a/robot_low_dim/p047-laptop-2-0027-allegro-view02.pkl b/robot_low_dim/p047-laptop-2-0027-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5ade457f416937862310997ae2ed53a6420d1d9c
--- /dev/null
+++ b/robot_low_dim/p047-laptop-2-0027-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fd3fe965a3dbedc5a1f8a0c9d6a4bdebbca09ee4e10b07a339098dfeeef4fe
+size 47062
diff --git a/robot_low_dim/p048-sandwich-0005-allegro-view02.pkl b/robot_low_dim/p048-sandwich-0005-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c647450a517ac2344447446198cf28473a3e86e0
--- /dev/null
+++ b/robot_low_dim/p048-sandwich-0005-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b54e47421e78a4deeaaffae43b471f27d4f8bbbd8a76ed58bd19028e9c917da
+size 47062
diff --git a/robot_low_dim/p048-sandwich-0019-allegro-view01.pkl b/robot_low_dim/p048-sandwich-0019-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3d71b7985d7b49b8f6d7e3df313f39e21f10a9ff
--- /dev/null
+++ b/robot_low_dim/p048-sandwich-0019-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:997422211bbca2a928740de2c892d7f06847648e0a61d42d449329be26b79c6a
+size 43482
diff --git a/robot_low_dim/p049-dog-0009-allegro-view01.pkl b/robot_low_dim/p049-dog-0009-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6ffe26fca243ecbdcb07333ae772c52ddef2c343
--- /dev/null
+++ b/robot_low_dim/p049-dog-0009-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea353c19cdbc39a39d5c6d4fb371d6c9ac62c0e007848076ca03bae73c795629
+size 45615
diff --git a/robot_low_dim/p051-dog-0015-allegro-view01.pkl b/robot_low_dim/p051-dog-0015-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1a9fc6b4990b6d845beec66a768d3a667977b6d3
--- /dev/null
+++ b/robot_low_dim/p051-dog-0015-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b09b70a43a01e083150b640e71bfde754ab62b734e7ff7c772823dd6dbc408
+size 79276
diff --git a/robot_low_dim/p052-instrument-0005-allegro-view01.pkl b/robot_low_dim/p052-instrument-0005-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..73a7e740cda92d8dd3f44558966ea89cda592b54
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0005-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0194bc3d63fe9215ab6965f2cab587c82334cf9c42ba725b5a17827b2732f718
+size 36328
diff --git a/robot_low_dim/p052-instrument-0009-allegro-view02.pkl b/robot_low_dim/p052-instrument-0009-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..97f3c24860530ddb46dcc52ec83e889ce1e67ece
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0009-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19afc43e25d7a305733b881df160163b9dde686bf7e7f9f20a4030bd0e4b9a6f
+size 66409
diff --git a/robot_low_dim/p052-instrument-0049-allegro-view00.pkl b/robot_low_dim/p052-instrument-0049-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ba22c8545b80377aaf4075aecf7afe048f117ec6
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0049-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a8ecc309e8222b2903d7aee80700fcd2b8ee4ebf7d6e9ff04844c24494bd05
+size 35612
diff --git a/robot_low_dim/p052-instrument-0079-allegro-view00.pkl b/robot_low_dim/p052-instrument-0079-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..825dec363eef5ad28a6fc43931f644be28815566
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0079-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5718867e815cdc855286fb66d024c3c8a5ef4d6ec37822921aa78b5d11f24321
+size 32748
diff --git a/robot_low_dim/p052-instrument-0083-allegro-view02.pkl b/robot_low_dim/p052-instrument-0083-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7f71d03fc39dd8006ea79576f99af1c8b5d283a7
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0083-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1395ce4835655cadd71c3078db146cab7f0614f687214ad953e2666cc24023f
+size 69273
diff --git a/robot_low_dim/p052-instrument-0084-allegro-view00.pkl b/robot_low_dim/p052-instrument-0084-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a66bf75ec49ab9de60842c22a3e1d9c111345342
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0084-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3597da892e5152860bf88c843c88f5322a261a9d8ab89f6fa5cf07b50e381f
+size 69273
diff --git a/robot_low_dim/p052-instrument-0092-allegro-view02.pkl b/robot_low_dim/p052-instrument-0092-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..732acb188b0614534f3a38daf706b90d1489ed0a
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0092-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc3e9c7e6c7e65ff41e8320480a97f72bee9a47f8952aa8ffebcd9372a04c4d
+size 36328
diff --git a/robot_low_dim/p052-instrument-0095-allegro-view01.pkl b/robot_low_dim/p052-instrument-0095-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..301a269552489890408b7250d6c4d9c6bd719fff
--- /dev/null
+++ b/robot_low_dim/p052-instrument-0095-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af207aac08350bd8dd6c22583ccf0f9570283e7676196bf585fd161a464d4c5d
+size 67841
diff --git a/robot_low_dim/p053-makeup-0036-allegro-view01.pkl b/robot_low_dim/p053-makeup-0036-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad8b2c33731d055dcabae324c2f1eaa822e5cadb
--- /dev/null
+++ b/robot_low_dim/p053-makeup-0036-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d39b99001544f1847b0494634cf9504c7af16fab9f4c17eefa6b4d7800adbd6
+size 111505
diff --git a/robot_low_dim/p054-instrument-folder-0051-allegro-view00.pkl b/robot_low_dim/p054-instrument-folder-0051-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a3ffc0bd6f04ab2006727e9d30802fca039c7b6b
--- /dev/null
+++ b/robot_low_dim/p054-instrument-folder-0051-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f0bd965a63050351513caacea774df998abb58c6deed539db36a47542e611a
+size 114402
diff --git a/robot_low_dim/p054-tablet-0004-allegro-view01.pkl b/robot_low_dim/p054-tablet-0004-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9d8eb8bd2d5e66f2b90d4f209523e5dc25018d27
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0004-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f079a67910bfba03b7f0f121600d73bf3bd8480fdb22e8f9d1138c635d02d38f
+size 49204
diff --git a/robot_low_dim/p054-tablet-0014-allegro-view02.pkl b/robot_low_dim/p054-tablet-0014-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b82a01f07943d7a8c991332cdc149d4ddd0c165
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0014-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:234f5dd938cb417b32235effef86c9970d40fb6d11d86394d378a0700ee6e7c9
+size 36316
diff --git a/robot_low_dim/p054-tablet-0016-allegro-view00.pkl b/robot_low_dim/p054-tablet-0016-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8616d693daf1719d6a2f273be7c37f5e83e7203e
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0016-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b6e03767b09ff245a58b882b89a27626a2cd04a0a238a6fa7502d97c2e739a8
+size 55648
diff --git a/robot_low_dim/p054-tablet-0028-allegro-view02.pkl b/robot_low_dim/p054-tablet-0028-allegro-view02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..045fe77ce7e40fae049d50f3c4bbd0df4b8bfa13
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0028-allegro-view02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b7b5f015db889064d90dffaa1406973b1fdff26c747f775152079974dfdb00
+size 40612
diff --git a/robot_low_dim/p054-tablet-0049-allegro-view00.pkl b/robot_low_dim/p054-tablet-0049-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..854af18ca11c26267c1d7b7cc024472b30f6fdf7
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0049-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d31a5536805c5af1f1311be6ba23fa6f90773b563ada0f00e8a8d7a8dd90c3cb
+size 34168
diff --git a/robot_low_dim/p054-tablet-0076-allegro-view00.pkl b/robot_low_dim/p054-tablet-0076-allegro-view00.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ef59c87a94f3e850eae769b8c53d67d948738dc9
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0076-allegro-view00.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:765b0b03e6fb5e641aa35412cc03f1b193fa4a2043887b4d8ab8fabd41b027ee
+size 27724
diff --git a/robot_low_dim/p054-tablet-0145-allegro-view01.pkl b/robot_low_dim/p054-tablet-0145-allegro-view01.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d3021fa0e39f3c7381156a52d6bcf577333331c6
--- /dev/null
+++ b/robot_low_dim/p054-tablet-0145-allegro-view01.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9659d79170eb27bb3d3ce46e7a7e678066a19d93890dfeeee28f1374538cdd23
+size 27008