diff --git a/.gitattributes b/.gitattributes
index 9e00a14d120a0810c1eb9efca475590b122010d8..4be5cdc393fa09972ae75571bf32cea9554de70b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 dataset_sft_fractal20220817_data_set3.json filter=lfs diff=lfs merge=lfs -text
+dataset_sft_fractal20220817_data.json filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset_sft_fractal20220817_data.json b/dataset_sft_fractal20220817_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce8283be3322d08c512ae67414638a8dc7f91233
--- /dev/null
+++ b/dataset_sft_fractal20220817_data.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8270439e16ad2fdd1b4a6629bb8f53410b81537ebb7cc74954c5b0a1661406c4
+size 12145766
diff --git a/images_src/berkeley_fanuc_manipulation/ep0_wrist_image_first.jpg b/images_src/berkeley_fanuc_manipulation/ep0_wrist_image_first.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c26572b9d0d14c2916a484896d639d68c81b634
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep0_wrist_image_first.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64de0e663e1b42ba3f483f9b6f371789ad036cbd0a2c0ad05d1a4870a4244298
+size 13464
diff --git a/images_src/berkeley_fanuc_manipulation/ep100_image_frame_010_current.jpg b/images_src/berkeley_fanuc_manipulation/ep100_image_frame_010_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..383a7b39880cf725c2af7a2458fba2744281787d
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep100_image_frame_010_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf53cf5b365d2e2506644eff4df56e253f5158a855d4c507395cb35fc5666da
+size 14317
diff --git a/images_src/berkeley_fanuc_manipulation/ep107_wrist_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep107_wrist_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..de7662c2fbb3ea4da5b4833b5edc5e00bf0be61b
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep107_wrist_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b15f15f9511ed51eb449cd00f4e6939ea451bf7367a959b93b7c8893f44de3
+size 5972
diff --git a/images_src/berkeley_fanuc_manipulation/ep109_wrist_image_frame_005_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep109_wrist_image_frame_005_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bb38dd832ef5fd62b7f54bad79076e01377afd09
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep109_wrist_image_frame_005_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932ea47bc33d115bf8b3cae65028a3703489cb9eb077cb0d7c80ab01f96aa0a9
+size 12467
diff --git a/images_src/berkeley_fanuc_manipulation/ep112_image_frame_000_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep112_image_frame_000_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a56df61341645be5a27b618b20dc4e3635e0f78
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep112_image_frame_000_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde2a3e636f9689f64791f4e16e7de3739759c34d37283b3069246f5e5472642
+size 14824
diff --git a/images_src/berkeley_fanuc_manipulation/ep113_wrist_image_frame_005_current.jpg b/images_src/berkeley_fanuc_manipulation/ep113_wrist_image_frame_005_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f4ef21bf69d4d849c0cc90044b71fe3ccb6ba7f3
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep113_wrist_image_frame_005_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f4f55625ffa35bc8460baa8113271149bdebf30de3f7a68b5eb43c597b9c88
+size 14335
diff --git a/images_src/berkeley_fanuc_manipulation/ep115_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep115_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e450b2703f50ce31f1ca5e1dccac37b3975ae1bb
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep115_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70595e020595169c4338a1f21422ba47efeaa91b334eaa60e1dd03ce599ca8f
+size 17027
diff --git a/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_011_current.jpg b/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_011_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..777be84d3bfcf6cbd29ddfff64ab6d680d0292ab
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_011_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79e3fc0cc0df37fe7a644cf97418abc7480e1a0b8e769528567cd70b73a665ca
+size 12526
diff --git a/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_016_current.jpg b/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_016_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7a4519fb9f7abf3725a5a362aaf421d98434c09c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep115_wrist_image_frame_016_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d542cdc0f52aeb9161b74a81501580417299c23b0301a55c39946ed149709235
+size 18108
diff --git a/images_src/berkeley_fanuc_manipulation/ep119_wrist_image_frame_006_current.jpg b/images_src/berkeley_fanuc_manipulation/ep119_wrist_image_frame_006_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..448485fa72774f61b5ae62f0c1dffa864ef5f898
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep119_wrist_image_frame_006_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1391731813d4fb5d4f7b76cceb2354bfba6fe6124fc676fab5deb4bc6a74cf31
+size 8572
diff --git a/images_src/berkeley_fanuc_manipulation/ep122_wrist_image_frame_004_current.jpg b/images_src/berkeley_fanuc_manipulation/ep122_wrist_image_frame_004_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b3298b391031bcd3ce1c249b388de470e407b10a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep122_wrist_image_frame_004_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a747a58de75b7f3b2fa98d0c1ce4888f54dbf2c86233d9ade55e83d3f3ed91f3
+size 11488
diff --git a/images_src/berkeley_fanuc_manipulation/ep123_wrist_image_frame_013_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep123_wrist_image_frame_013_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f16ad05b9031888b6e4b0e7b8c9f067040638452
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep123_wrist_image_frame_013_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c9221a24cac8bf5fc35dbcf219b43cccd98fe0ddad47309113f933a786570e
+size 13294
diff --git a/images_src/berkeley_fanuc_manipulation/ep126_image_frame_008_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep126_image_frame_008_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..10cce8043befcac98bed0769e029e15b2b7e0a8c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep126_image_frame_008_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a588b50e1eedc0817a70a1f67775e7719e09209419a9c0bcf60d726f0f4124
+size 14461
diff --git a/images_src/berkeley_fanuc_manipulation/ep126_wrist_image_frame_009_current.jpg b/images_src/berkeley_fanuc_manipulation/ep126_wrist_image_frame_009_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b914a2e979b0384b3ee8047e0c213daeebb8a421
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep126_wrist_image_frame_009_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac75509d76a90736e812be22db3d875643711b895bee745a1cbd1cf2452fe9a5
+size 9631
diff --git a/images_src/berkeley_fanuc_manipulation/ep127_wrist_image_frame_016_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep127_wrist_image_frame_016_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2c0892c13679128a67e7491feb858667a223c568
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep127_wrist_image_frame_016_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efd014629884be395063bcbf5c64f3e61a9998c5029b7d815d47b09b52a5db7
+size 11049
diff --git a/images_src/berkeley_fanuc_manipulation/ep12_wrist_image_frame_013_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep12_wrist_image_frame_013_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..462d5cc0295636b9c64aff58887648d96e5c155c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep12_wrist_image_frame_013_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2196e17e41f9726ad080c0fbf323232c0b9e28a26d5e3b3804ed8a6a1f0ac00
+size 13408
diff --git a/images_src/berkeley_fanuc_manipulation/ep137_wrist_image_frame_012_current.jpg b/images_src/berkeley_fanuc_manipulation/ep137_wrist_image_frame_012_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7ae6e4f9fbd6a8a28228af766e37cb76eb1c7ccd
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep137_wrist_image_frame_012_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7dbc567cde3fcb4325b16f7abbe3f72f4fbbc194dcb3e374fdaf8b66390b3c5
+size 13274
diff --git a/images_src/berkeley_fanuc_manipulation/ep139_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep139_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1eab420dfeb5a2c7837e970542e1596b2b7440b6
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep139_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d3f8962f9415ee299f465a517175c1d7f1f28d3e80500f9369419099a675d2
+size 16113
diff --git a/images_src/berkeley_fanuc_manipulation/ep13_wrist_image_first.jpg b/images_src/berkeley_fanuc_manipulation/ep13_wrist_image_first.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5b4f5d5bc9fa0b43817da25452352e6aebab70ca
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep13_wrist_image_first.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012b077388e656a8ee7ff36284c5a604571836c2061b5ae2e8f0883b6b86a6ac
+size 12761
diff --git a/images_src/berkeley_fanuc_manipulation/ep140_wrist_image_first.jpg b/images_src/berkeley_fanuc_manipulation/ep140_wrist_image_first.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..be727592e855d03c560f4b9599ae622e176557b7
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep140_wrist_image_first.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8874e21f77e5c10e995c4e3700f5be8a5c96808bc918d5f44b43aabf1ffe159a
+size 13097
diff --git a/images_src/berkeley_fanuc_manipulation/ep145_image_frame_016_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep145_image_frame_016_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2708d9bb995719137c5ed0d4b0738393c0a34202
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep145_image_frame_016_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937fb8f8ae963d03e8768bec5e734ba446f0d1a51d711c5ebbd7e6a4fd1073e0
+size 17479
diff --git a/images_src/berkeley_fanuc_manipulation/ep146_wrist_image_frame_017_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep146_wrist_image_frame_017_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a9bb58e65ef12f5a13933d66e1eb0cd14754c07d
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep146_wrist_image_frame_017_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c407fb0656305ca023d40473c942ba5424bc6b697c9236196045cc3a0a53ec
+size 12828
diff --git a/images_src/berkeley_fanuc_manipulation/ep149_image_frame_018_current.jpg b/images_src/berkeley_fanuc_manipulation/ep149_image_frame_018_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a7199bf266579408aae4b1c5ba12ae0e530d1bb
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep149_image_frame_018_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80244c0e65eb5e5b5e27274d7e2c30e2c0ac3f9a3e6e4c0d858c7ab2a6dbc271
+size 14478
diff --git a/images_src/berkeley_fanuc_manipulation/ep152_image_frame_011_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep152_image_frame_011_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0b9c4f86e8f0f1b2013c6a24fc4a019e26a146ad
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep152_image_frame_011_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fc83774d0899c6c7165c6ce7aa963399c5780798f5678a2d7965257b7b1128
+size 16436
diff --git a/images_src/berkeley_fanuc_manipulation/ep152_image_frame_016_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep152_image_frame_016_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..37b659a2eb9db00a790f32e0e57a0e3048b76313
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep152_image_frame_016_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31432d4847a9520b25edec6d7dd653d112f278486b3e974121ff44e885271f71
+size 16429
diff --git a/images_src/berkeley_fanuc_manipulation/ep154_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep154_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7d0e47fc92eb9da300ae78346d46443fae747306
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep154_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0b1c1c62d93eb805d23a79bb6a6de069207c97adea114b7b46007dde281c89
+size 15534
diff --git a/images_src/berkeley_fanuc_manipulation/ep154_wrist_image_frame_012_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep154_wrist_image_frame_012_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..033d9b34975064fa960bfe1f706da717af108205
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep154_wrist_image_frame_012_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd9e02254c109e6830dde8dd9d98053d9afd19c1dab7753fb9a9c9945df7b63
+size 13242
diff --git a/images_src/berkeley_fanuc_manipulation/ep158_image_frame_018_current.jpg b/images_src/berkeley_fanuc_manipulation/ep158_image_frame_018_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ada100106113a6526f261ea0840708176ff32435
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep158_image_frame_018_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba2b1418a880e7fee6f2dbe64c3adea6c1d3bc42dab0c83dc95786b825ac120
+size 18181
diff --git a/images_src/berkeley_fanuc_manipulation/ep159_wrist_image_frame_017_current.jpg b/images_src/berkeley_fanuc_manipulation/ep159_wrist_image_frame_017_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..715ce13ec7b2f4fb883d94e458086ac7cd4eb29f
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep159_wrist_image_frame_017_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fada709c56b026e9152f944706b33342780f7c9fa152bff820d174a346f12db0
+size 17851
diff --git a/images_src/berkeley_fanuc_manipulation/ep15_image_frame_019_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep15_image_frame_019_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d5f12bee4aff7c89ba02c4101735128b1ee807a1
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep15_image_frame_019_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1011c36562829d50052eab6be732e40c356c5e0d4279d4f85faf122f72c992d
+size 14646
diff --git a/images_src/berkeley_fanuc_manipulation/ep160_image_frame_004_current.jpg b/images_src/berkeley_fanuc_manipulation/ep160_image_frame_004_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..28ee378226f7829994180fbbc4d136f5638cd574
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep160_image_frame_004_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87f34e046f9c857d0ebbcd669104a9f6d6e406c0c059abca3b93422c983a72f
+size 14850
diff --git a/images_src/berkeley_fanuc_manipulation/ep165_image_frame_003_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_003_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b0fe11dffb3ee4dd8ef21181611f529bbcbbdb24
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_003_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c810041170815375b3db11a4cdb4a043770a7a97fea38b96e5d597d76bc1b92
+size 14952
diff --git a/images_src/berkeley_fanuc_manipulation/ep165_image_frame_005_current.jpg b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_005_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aa3f50ac3638cbb07945a0a18838e831a2da585e
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_005_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:714765735eee4b6ac934ad4d89eab023186c8d700bf444a318801f917c265ee9
+size 14086
diff --git a/images_src/berkeley_fanuc_manipulation/ep165_image_frame_011_current.jpg b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_011_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..54275489dcb7c63287cdebb82d683fd76e3b7a4d
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep165_image_frame_011_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b7ca1d686e9463416a296a8f959186df4ced265c83bb6c0288a864c63f8e42
+size 16207
diff --git a/images_src/berkeley_fanuc_manipulation/ep16_wrist_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep16_wrist_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f96a36341fcc625449d29b492384686e18fb3c97
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep16_wrist_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:643fbdec4cd545564680db00331c7a72e824bef248921127a799527d8b09828f
+size 15624
diff --git a/images_src/berkeley_fanuc_manipulation/ep171_wrist_image_frame_004_current.jpg b/images_src/berkeley_fanuc_manipulation/ep171_wrist_image_frame_004_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c36967a1bc354ccef0b464361666fc60cc253987
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep171_wrist_image_frame_004_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3cdaf9f0907f6db1094b1689badfeb81dc4131ab7893ae22a9ed88c5481003
+size 9330
diff --git a/images_src/berkeley_fanuc_manipulation/ep174_image_frame_000_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep174_image_frame_000_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5864afe17554e28c266df79e987e008206344f84
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep174_image_frame_000_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9750a842d9e06195b48ef7e04d440f209c825330fd435f9c23c3c3c404a51788
+size 12285
diff --git a/images_src/berkeley_fanuc_manipulation/ep177_wrist_image_frame_020_current.jpg b/images_src/berkeley_fanuc_manipulation/ep177_wrist_image_frame_020_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..71e15d4eff716ebc6f4eda8730757b7590b6b354
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep177_wrist_image_frame_020_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53090c8beb4faa259220d246f2c46b940d148df95abfb1e30627e779c199578
+size 10149
diff --git a/images_src/berkeley_fanuc_manipulation/ep178_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep178_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cf33552c3610923d4c1051fb271c0bd0c4bc2ae2
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep178_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1aa3fb334fe86299163c009c8167015cb18802402cc35c485ff2e969da3a031
+size 16944
diff --git a/images_src/berkeley_fanuc_manipulation/ep181_wrist_image_frame_010_current.jpg b/images_src/berkeley_fanuc_manipulation/ep181_wrist_image_frame_010_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3ef409431c5cf24e06a4869a73757220d1a51cb7
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep181_wrist_image_frame_010_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efb657a0976958a1d438eaeabb92e9447933cf0f3a94ada723d04a7e984aee6
+size 8051
diff --git a/images_src/berkeley_fanuc_manipulation/ep182_image_frame_020_current.jpg b/images_src/berkeley_fanuc_manipulation/ep182_image_frame_020_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9044af826a5819a4c7406c8e38c4fa88f2d2ad45
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep182_image_frame_020_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9c9728852d184e822bf3c8017ae7b1ae9929a4f18d8bf154dc80e6506f2ed6
+size 16881
diff --git a/images_src/berkeley_fanuc_manipulation/ep183_image_frame_012_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep183_image_frame_012_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..47b36811e83f8588ec16e002eadccaae9e59ca81
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep183_image_frame_012_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e84c6adc602442d572f2cf029e51f33e73ed38c464d051671c5e91e1a7ac92
+size 15762
diff --git a/images_src/berkeley_fanuc_manipulation/ep184_wrist_image_frame_010_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep184_wrist_image_frame_010_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a66a316974a234e15c429487d0204995b2ce502
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep184_wrist_image_frame_010_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc11a1a4bc786508e615541c4e27404d99e096198c6e96e4444c8066b9c909c9
+size 13583
diff --git a/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_current.jpg b/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..31602dab26dfc3396e7d9a2b787a27f59e115bc6
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e911ffa18ee17010cd7c1c60586350a863809bc16dd1866c0200ffdb4ce5aec3
+size 7504
diff --git a/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ba2c6b51454470e75435de3ea34e58fbfdafe1c8
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep185_wrist_image_frame_016_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa39c5cc2901afcc139c4fcc47f185d7bcad49086f64da02f13826c03fe96f02
+size 7212
diff --git a/images_src/berkeley_fanuc_manipulation/ep187_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep187_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d07b716c72d6a4f598b1ce04b3b7502b6723a71a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep187_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333938ae28abab4e4148174928325a399777b1ba9fd4ccf62c69c28a5a659e9a
+size 16619
diff --git a/images_src/berkeley_fanuc_manipulation/ep187_wrist_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep187_wrist_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..981d2679f715eebf4e8de4d598165f2997ffe119
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep187_wrist_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14972232117431091e663f54e57b0d252e590304af73673507a0961f6f488832
+size 19658
diff --git a/images_src/berkeley_fanuc_manipulation/ep189_wrist_image_frame_013_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep189_wrist_image_frame_013_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..30e3d1b9e68b1722e06246fb595ec4a913d8201d
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep189_wrist_image_frame_013_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a8c7768ce986648b3da8bdb490a045d02093bbb2b3b05623352c0b30669fa1
+size 13074
diff --git a/images_src/berkeley_fanuc_manipulation/ep190_wrist_image_frame_020_current.jpg b/images_src/berkeley_fanuc_manipulation/ep190_wrist_image_frame_020_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..879d8cc13b51f0c68ae80612bc675e8ca8472291
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep190_wrist_image_frame_020_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:becef9b7760f8f00e263935d5bc73ea436185d16ea03a9eaf5531f36fc8af18c
+size 12024
diff --git a/images_src/berkeley_fanuc_manipulation/ep193_wrist_image_frame_014_current.jpg b/images_src/berkeley_fanuc_manipulation/ep193_wrist_image_frame_014_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f44aa60459a9176ac708c55d4d1976f21518a80c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep193_wrist_image_frame_014_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44f5402b6a7f780ed37a1cab5cec52766e06ae892119ae39881b57c3d6a9c0e7
+size 11390
diff --git a/images_src/berkeley_fanuc_manipulation/ep195_wrist_image_frame_010_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep195_wrist_image_frame_010_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1314eaf5ab1599060dfbeb43fce7e149af8f355a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep195_wrist_image_frame_010_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca529f15caae3aecb43e9a3ff901b12e772513079bf767c0050cf03c0c6660f9
+size 13521
diff --git a/images_src/berkeley_fanuc_manipulation/ep196_wrist_image_frame_004_current.jpg b/images_src/berkeley_fanuc_manipulation/ep196_wrist_image_frame_004_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..672e4c025025999cdb3a831a947b1d1b3904811e
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep196_wrist_image_frame_004_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98add0b4037b193da6da8a5fd116bac6b3f59016318e4c09b3910b5c9477176
+size 12656
diff --git a/images_src/berkeley_fanuc_manipulation/ep197_image_frame_017_current.jpg b/images_src/berkeley_fanuc_manipulation/ep197_image_frame_017_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b0bd9f8a1030db89f7d5840ba17a0ceb4d0e3097
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep197_image_frame_017_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cb9e72018ba011ae2050552548b0ffe406f1f33235f54bf39f83fe90b1c32f
+size 13436
diff --git a/images_src/berkeley_fanuc_manipulation/ep199_wrist_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep199_wrist_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..741f8bd783f657c7d19e6cffb7e7c9b075369828
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep199_wrist_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2168e4d56725085c4a56e25c3309c25643a7037007cdeaea37c628416181a92f
+size 15721
diff --git a/images_src/berkeley_fanuc_manipulation/ep1_image_frame_019_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep1_image_frame_019_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fd2b92eda5aeace8fa1b13f832b71aee2f50c3a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep1_image_frame_019_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e111889ea21902b86793d9ce66bdaeb119010acee50f657bbf738a4259102fb
+size 10248
diff --git a/images_src/berkeley_fanuc_manipulation/ep204_image_frame_002_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep204_image_frame_002_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ff848057b46c889e91afdca3e10cce27f25e39ec
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep204_image_frame_002_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b5be3ab73645ebedb887052c90b9f47a67e00b554947c66aaa4283bc20786e
+size 13531
diff --git a/images_src/berkeley_fanuc_manipulation/ep24_wrist_image_frame_011_current.jpg b/images_src/berkeley_fanuc_manipulation/ep24_wrist_image_frame_011_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a202a808d52ea1dcb16f8d038e61765564e6d9c9
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep24_wrist_image_frame_011_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e9364c37df6b771df82729c4de93115831275df7ea0f25fae8db0e5772da55
+size 14149
diff --git a/images_src/berkeley_fanuc_manipulation/ep27_wrist_image_frame_019_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep27_wrist_image_frame_019_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0fa8ba72b5ade851798670ca135dbc467b62e23c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep27_wrist_image_frame_019_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b4446678a4a54e6e822ae8a5728f2164ffe14f15ff5b0d10516ecde403ca82e
+size 13674
diff --git a/images_src/berkeley_fanuc_manipulation/ep28_image_frame_019_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep28_image_frame_019_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..993e37eff3b042b9d5e1956b79bed25fe3c5ecc1
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep28_image_frame_019_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a77d39a0f6b6452e77741ba8057bd70474a66416d6254ee770d86287e5b29c8
+size 17087
diff --git a/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_014_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_014_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f5b75dc4bab1058550673e6dd08974fdff1e42c9
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_014_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfab4df635b6b1e08188ffefadce7764dbe3e0e854367980fa18c5ee63c329ff
+size 11920
diff --git a/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_018_current.jpg b/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_018_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..07b5f22b9de7bf7cc79dced8084fd61f72907595
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep29_wrist_image_frame_018_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf5df2339bc74b7563939e653da423bd91b5f0841e850fba0785d94b81f6871d
+size 12723
diff --git a/images_src/berkeley_fanuc_manipulation/ep30_wrist_image_frame_012_current.jpg b/images_src/berkeley_fanuc_manipulation/ep30_wrist_image_frame_012_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d4d5295b59510283fa88a7a21176af0a924073e
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep30_wrist_image_frame_012_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d892f194f0cbbd0a4e854a01e55132905ff3f51b78023b2ad4e50ece951f573c
+size 13881
diff --git a/images_src/berkeley_fanuc_manipulation/ep32_wrist_image_frame_011_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep32_wrist_image_frame_011_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bcd99424bfd3c1515d4ecec775726d6ea00896af
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep32_wrist_image_frame_011_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9bcf48b27182e001f4f3ad2047b1a8403a347a94a6aa21910d10873c0f71405
+size 11231
diff --git a/images_src/berkeley_fanuc_manipulation/ep35_image_frame_012_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep35_image_frame_012_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..063a31be9894fd1f3610b5efb83dd18d35b721b4
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep35_image_frame_012_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b0adab1996454c02b9b83fb04c48e36e1682a8b40c770e0fc6556b312c1336
+size 16640
diff --git a/images_src/berkeley_fanuc_manipulation/ep43_image_frame_017_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep43_image_frame_017_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..94333871343a401bf67c8f40719fb499ec92dd44
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep43_image_frame_017_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fbbec6a6e6c65fdc6fb9d8da60e2b5e9ba047c7f51a5fc1ebb074d894eab1ab
+size 13820
diff --git a/images_src/berkeley_fanuc_manipulation/ep43_wrist_image_frame_015_current.jpg b/images_src/berkeley_fanuc_manipulation/ep43_wrist_image_frame_015_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a9a4bc7d14716323ca1722a0a183db732e02a2d
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep43_wrist_image_frame_015_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be966f68dc4dcbc6b42929d6de1272307577a578a2a22e84ca1d7a07c4d56c83
+size 15200
diff --git a/images_src/berkeley_fanuc_manipulation/ep44_image_frame_015_current.jpg b/images_src/berkeley_fanuc_manipulation/ep44_image_frame_015_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..149437d40198a5e1f12a1ab88977abf87eac4f6a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep44_image_frame_015_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8336f928e33604954c7fa2aa583943ac8e5bc98599423ef346dec179f20d907
+size 17476
diff --git a/images_src/berkeley_fanuc_manipulation/ep49_image_frame_019_current.jpg b/images_src/berkeley_fanuc_manipulation/ep49_image_frame_019_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9ec0afbdbe9f858b325043698395a4fd863f8c6f
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep49_image_frame_019_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c741dd498fb4af02edae3c9ca595beaddfb5bc10e751fa7b585914aa2312b27d
+size 14393
diff --git a/images_src/berkeley_fanuc_manipulation/ep4_wrist_image_frame_007_current.jpg b/images_src/berkeley_fanuc_manipulation/ep4_wrist_image_frame_007_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d34c00e6634c87903b845162a915c0dc668fe5a6
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep4_wrist_image_frame_007_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8c6081f44a9d741447bb8eab5776a154da7bf6d04a7752db882c31f3d50885
+size 10845
diff --git a/images_src/berkeley_fanuc_manipulation/ep50_wrist_image_frame_014_current.jpg b/images_src/berkeley_fanuc_manipulation/ep50_wrist_image_frame_014_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6b165f6d981a7a537696d4a50dfd9a06a3718384
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep50_wrist_image_frame_014_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b72010f2c63c7c90517b10326c396f7d3b029ad5bc40cfd0f43821bcfe0834c
+size 9083
diff --git a/images_src/berkeley_fanuc_manipulation/ep51_image_frame_003_current.jpg b/images_src/berkeley_fanuc_manipulation/ep51_image_frame_003_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f203216f7b8b3083706d20b4d6fadd72e776020
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep51_image_frame_003_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b3e3765d3ad87584ef02eb02603ac43bfabd69153069681a20e75a50be95c48
+size 15443
diff --git a/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_016_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_016_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b6df7f97935d8d221961fc3fa8527d0557bd3669
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_016_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a263c73c10f3f1f111c182bf66f60730094372488fe433a0f476967aa60b00
+size 11215
diff --git a/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_017_current.jpg b/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_017_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..30eebbabc2c3e143c8775c13790e37da34f750e2
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep53_wrist_image_frame_017_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824c342f759fcfab7e9b10fb7a0be6f01015a4d4aae5f9ccc8c9fbcd05d7db16
+size 14053
diff --git a/images_src/berkeley_fanuc_manipulation/ep55_image_frame_015_current.jpg b/images_src/berkeley_fanuc_manipulation/ep55_image_frame_015_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c5e10081e69ffb833a2932a2dbabb38dbe748b45
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep55_image_frame_015_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b20aed36fc73c05f8de8cf91d8429b0542fc524b92d4160ca4080631f64bf8bb
+size 12077
diff --git a/images_src/berkeley_fanuc_manipulation/ep58_image_frame_014_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep58_image_frame_014_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6403f978a416412a2fc4a92b76f93df6364b5d07
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep58_image_frame_014_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a071076f46d695f6edf6d8250ab62608b78730a21381d2f6319648bc2ba0db1
+size 14458
diff --git a/images_src/berkeley_fanuc_manipulation/ep5_image_frame_010_current.jpg b/images_src/berkeley_fanuc_manipulation/ep5_image_frame_010_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b9deafc64244f9f67b8965b9326531399c053ca2
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep5_image_frame_010_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f16240d18d167b8b11726d660360808968a383b2f1d191851280ff98249e01
+size 16308
diff --git a/images_src/berkeley_fanuc_manipulation/ep5_wrist_image_frame_012_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep5_wrist_image_frame_012_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..45569083403fdf62e6c4f52613090d491bc958c1
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep5_wrist_image_frame_012_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5679db65967c48d810b0d4004766a38c4f7ce3e3774ebba422057d62a17d943
+size 8810
diff --git a/images_src/berkeley_fanuc_manipulation/ep62_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep62_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e1a3a73a0ae8ebc0df20ef1345de18e95bb301b6
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep62_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f64509b48c28f67712d79bf48e2720fb594f3a4573f13baa0a976ad9fd18fc5
+size 15807
diff --git a/images_src/berkeley_fanuc_manipulation/ep63_image_frame_014_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep63_image_frame_014_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4c516187426e6d066c2459bc8edee60e4623a930
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep63_image_frame_014_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53e7b43f0485450d0cef4e8fa1a8e337ef12a9973e682ed1fa4ab9ebc8fd61f
+size 13991
diff --git a/images_src/berkeley_fanuc_manipulation/ep63_wrist_image_frame_007_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep63_wrist_image_frame_007_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..19740f5f60ca12d1b50b86de49a60079d1227c7a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep63_wrist_image_frame_007_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb30e28c1b6444f32ac3ea8c5c2b812ebe026ebfb691bc684de51d5fe9687e0
+size 13898
diff --git a/images_src/berkeley_fanuc_manipulation/ep66_image_first.jpg b/images_src/berkeley_fanuc_manipulation/ep66_image_first.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2979e0fa41cf03eca12881a985ed4a8617b1075f
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep66_image_first.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9ff071d914fbee730d9180927fa78e85905df353fcc3845bfa322fbcc77fb6
+size 12008
diff --git a/images_src/berkeley_fanuc_manipulation/ep69_image_frame_018_current.jpg b/images_src/berkeley_fanuc_manipulation/ep69_image_frame_018_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c17a641161fbca544b7a6545d5124e708654e494
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep69_image_frame_018_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308ebe8183eef82a34943d87c5c75836b63e0a0c32722f3071166134fd824347
+size 17306
diff --git a/images_src/berkeley_fanuc_manipulation/ep71_image_frame_014_current.jpg b/images_src/berkeley_fanuc_manipulation/ep71_image_frame_014_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62411826db039e28b096031758a86d9eca97442b
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep71_image_frame_014_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3877fea92ff9a631a7321e0907cbc24756f44b084b66e53c85dfedc10e59024a
+size 13528
diff --git a/images_src/berkeley_fanuc_manipulation/ep75_wrist_image_frame_011_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep75_wrist_image_frame_011_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cb16cbf720674b1a6944c8d66f8bb01cde7dd014
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep75_wrist_image_frame_011_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb3ace0c78bcf32ce7217a24933b37b70eedf704448a08a2568d50f7c93cfe5
+size 12353
diff --git a/images_src/berkeley_fanuc_manipulation/ep77_image_frame_019_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep77_image_frame_019_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a400b26f52b1aa239761356791cbca26beb5ae1a
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep77_image_frame_019_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314ffe85c7af47a8eb43d6ed71d786f2b3a739b33f2625050d05b83a54e0f21c
+size 14254
diff --git a/images_src/berkeley_fanuc_manipulation/ep78_image_frame_012_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep78_image_frame_012_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..90b2e509dca2e214e5d4b26afa5ac8aee7baffe4
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep78_image_frame_012_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9da3fdf49072ced7bd885551add13611f237775132ab739d718e64b21c77605f
+size 17086
diff --git a/images_src/berkeley_fanuc_manipulation/ep81_image_frame_020_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep81_image_frame_020_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a6887bb2ebd092c1002c82f0de0e391dba160861
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep81_image_frame_020_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4cb4684770fc48177b873e6a30806494cd7416a5ac99588de406ead870965a
+size 15234
diff --git a/images_src/berkeley_fanuc_manipulation/ep84_image_frame_010_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep84_image_frame_010_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..708a3853b8d77ccbfd97665e60a6d6c3698178b8
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep84_image_frame_010_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eab1d960e290f6eecc7cededde9fd68d4c180dabe5bc86d0ce312e507e374f6
+size 14885
diff --git a/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_009_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_009_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f229c11f2b95c9019dd0341ec49fffbd6cf2c238
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_009_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceeb32dc6fe3810240827f4aaf6cc66e2a83544c784ba78fcd48ce3b8057cf5e
+size 12629
diff --git a/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_015_current.jpg b/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_015_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1372dff5721304a4250c9e52ba4fd7afae7dd2b0
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep84_wrist_image_frame_015_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb1111ee5cce37d99a4f5d4d44989131dcd828f4160a70f3f941876ad6c9212
+size 13590
diff --git a/images_src/berkeley_fanuc_manipulation/ep86_image_frame_008_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep86_image_frame_008_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ee601db63c9f9d7fd1d3b87a128c452e63f4bcae
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep86_image_frame_008_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca8e1a1caea4ea3ca3cdfb4fc4a96295532f81c95987498795b9db85e2a27c9
+size 13673
diff --git a/images_src/berkeley_fanuc_manipulation/ep87_image_frame_009_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep87_image_frame_009_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..de9d9fe93034bc69788e63d41d552c54f10cfb35
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep87_image_frame_009_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33bf75b0eff9b7a98ae7dc2e11e080fe17d6727dc4c01ee0c1f25dfaa551c08a
+size 14385
diff --git a/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_004_current.jpg b/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_004_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9b6b091dae2aa4b1056b4547eb07de05522743f
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_004_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aee5197bdafbe7d0de6aaa56a307848f1f13e539be56b9fd35bc2274ff3c8f84
+size 12069
diff --git a/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_005_current.jpg b/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_005_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c6cbbc44b022b68f020ec615d97de51721d506e9
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep88_wrist_image_frame_005_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1991d606d8537f182a7ad8fd8b0381f022bb5db49c7be3ca05032b57f671936a
+size 12329
diff --git a/images_src/berkeley_fanuc_manipulation/ep91_image_frame_005_current.jpg b/images_src/berkeley_fanuc_manipulation/ep91_image_frame_005_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c5bfc286a4ab4791e3632ee5e71aa81ab9c7683c
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep91_image_frame_005_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf793b370c694e55f0bb56f9904af69caba441c7b2173f6736fc12fc2a11001e
+size 15607
diff --git a/images_src/berkeley_fanuc_manipulation/ep93_image_frame_006_prev.jpg b/images_src/berkeley_fanuc_manipulation/ep93_image_frame_006_prev.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dfbd6ee3dd07186623572b6f798827137ac6f1bc
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep93_image_frame_006_prev.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e76fe2cd57ef06cbb5b76a7229b0d3bf9ebc7cbbcc92dc6748ba8a47b1067c0
+size 17177
diff --git a/images_src/berkeley_fanuc_manipulation/ep97_image_frame_003_current.jpg b/images_src/berkeley_fanuc_manipulation/ep97_image_frame_003_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0aba5358b896bb2496f0d71ae24f4d662e3f93dc
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep97_image_frame_003_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4158268e0ec0433ba6332fa0cd4a3537adebf09afe21b6e5ffccd2bbab0b2e
+size 14046
diff --git a/images_src/berkeley_fanuc_manipulation/ep97_wrist_image_frame_007_current.jpg b/images_src/berkeley_fanuc_manipulation/ep97_wrist_image_frame_007_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..de5109abae96268e90b05d9ded8869a2c881d499
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep97_wrist_image_frame_007_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7cd47a2662e5cba261d3548c42326cb63c0671a1e9f92eded93ca0d3c717a77
+size 12081
diff --git a/images_src/berkeley_fanuc_manipulation/ep99_wrist_image_frame_006_current.jpg b/images_src/berkeley_fanuc_manipulation/ep99_wrist_image_frame_006_current.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..87163c8a15a62818af7fd77e810f141ad53a43b1
--- /dev/null
+++ b/images_src/berkeley_fanuc_manipulation/ep99_wrist_image_frame_006_current.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b808507d11dc7ccb9caa8e0fb13cee3d05a8180bd283157395bda41d37cfa933
+size 9371