diff --git a/dataset/move_can_pot/ARX-X5_clean_level3_50.zip b/dataset/move_can_pot/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6944914c9153359f67430362d4b32fef74f758d5
--- /dev/null
+++ b/dataset/move_can_pot/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b57f0fbb2edb6c6079de93eba90ee31bbf2fd4b9ebad74353ea3c157bd7b46a
+size 148670579
diff --git a/dataset/move_can_pot/ARX-X5_randomized_level2_200.zip b/dataset/move_can_pot/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..50a35a687ff68fc9a44451180d06df2b3ef6b5ef
--- /dev/null
+++ b/dataset/move_can_pot/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e158d690e2d5f75e173710dc06559a4f1dffc67e94631882d119bdb1effcee50
+size 1091030075
diff --git a/dataset/move_can_pot/aloha-agilex_clean_level3_50.zip b/dataset/move_can_pot/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..29288898ce8c8cf185a0dbdd69c1ed5d64625673
--- /dev/null
+++ b/dataset/move_can_pot/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:427242760180b90391163fd8389bc1fd5b6dac09893314cd56081cd36ae8dfa3
+size 309153756
diff --git a/dataset/move_can_pot/aloha-agilex_randomized_level1_200.zip b/dataset/move_can_pot/aloha-agilex_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..0ed1f4ced316a002d10e7753fcb3bd6f8b272747
--- /dev/null
+++ b/dataset/move_can_pot/aloha-agilex_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe6f30c736908739725fc94de11f62783e917e35a4ba092c70553559c20408ad
+size 2239067643
diff --git a/dataset/move_can_pot/aloha-agilex_randomized_level3_200.zip b/dataset/move_can_pot/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d60a32ab68e294393240bcf9fef5bbd9273260ce
--- /dev/null
+++ b/dataset/move_can_pot/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23470b1c976ee3ba0b115d7bc0c3acecd82fbe922b2571cb7bf47845aea6487f
+size 2282042806
diff --git a/dataset/move_can_pot/franka-panda_clean_level3_50.zip b/dataset/move_can_pot/franka-panda_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..af4a2c7393acefb3f502aab782ba4292f568ce62
--- /dev/null
+++ b/dataset/move_can_pot/franka-panda_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c5a8db0f45d72287753c7efd956f001982d03fc9655ef4e711ad73dd86dee8
+size 121082419
diff --git a/dataset/move_can_pot/franka-panda_randomized_level2_200.zip b/dataset/move_can_pot/franka-panda_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b9dca6d7c9e16b5d547693ac6bda09ada1702d67
--- /dev/null
+++ b/dataset/move_can_pot/franka-panda_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e66e47560c1715bc6db070c4a2b25298a255d37fb32ac76a8174221b6a4c47
+size 892320336
diff --git a/dataset/move_can_pot/franka-panda_randomized_level3_200.zip b/dataset/move_can_pot/franka-panda_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..ea054fba7d5b8688fa0fdf180d1b16141a8bb6ef
--- /dev/null
+++ b/dataset/move_can_pot/franka-panda_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2308e0633637fd1271169c59632442866e1a4595d58ff89c5374d86078761b79
+size 896180150
diff --git a/dataset/move_can_pot/piper_clean_level3_50.zip b/dataset/move_can_pot/piper_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6bf2e4ed3bac6198537177b5313614254995696d
--- /dev/null
+++ b/dataset/move_can_pot/piper_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2e04fdf3250a6a2a27c4475c7e6a94ea420e83dfe5a5ae4979f2e494a0adc0
+size 136856142
diff --git a/dataset/move_can_pot/piper_randomized_level2_200.zip b/dataset/move_can_pot/piper_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b8557c8c8c6db367ce004a517fc6db1cfa292bc7
--- /dev/null
+++ b/dataset/move_can_pot/piper_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0b88fa90c85e7058d7fe817d661fdfd75f4d7204f5859992b8a12d506aa66cf
+size 1183340433
diff --git a/dataset/move_can_pot/piper_randomized_level3_200.zip b/dataset/move_can_pot/piper_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..ebb89591f83e2082d006c566051b20d5333f7d8f
--- /dev/null
+++ b/dataset/move_can_pot/piper_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0fc4c48403af909ed919340eb8ecee8675e2165ca60b809e85acb02190a71f
+size 1173149324
diff --git a/dataset/move_can_pot/ur5-wsg_clean_level2_50.zip b/dataset/move_can_pot/ur5-wsg_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..fa59e430f6619806535b8c0af5e38143bd6628b8
--- /dev/null
+++ b/dataset/move_can_pot/ur5-wsg_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f593ca17f375beb575d67dec2f2bd6fda3b1afabafbc6f42f23b74b8d41808a8
+size 124580595
diff --git a/dataset/move_can_pot/ur5-wsg_randomized_level1_200.zip b/dataset/move_can_pot/ur5-wsg_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..38e4096d13030d31dbc561881b92a5b77e88eb39
--- /dev/null
+++ b/dataset/move_can_pot/ur5-wsg_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdef961902d65ac02bc17e9ae0a465de6c18215c7314f71e01ea67a6035139e
+size 939212172
diff --git a/dataset/move_can_pot/ur5-wsg_randomized_level2_200.zip b/dataset/move_can_pot/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..7c821a57587d1ddbf0fdf1c55d8a3af53e45c614
--- /dev/null
+++ b/dataset/move_can_pot/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362f86835e953768a354caaf49d6534749d38c987096cb6f2e5bc9ad927dfe1e
+size 928097439
diff --git a/dataset/move_pillbottle_pad/ARX-X5_clean_level1_50.zip b/dataset/move_pillbottle_pad/ARX-X5_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..c28a5503084b1b4b4012a9bb1c7495f1852cf42c
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ARX-X5_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0f6c7306dc34ab7ff45db729ce2b44f4e91c86200fb62b84a12059cca64c40
+size 136085890
diff --git a/dataset/move_pillbottle_pad/ARX-X5_clean_level2_50.zip b/dataset/move_pillbottle_pad/ARX-X5_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..eb860fa322d3e8412e60a9841959aa9f22e2142e
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ARX-X5_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92bc56ff6b8103d613e00365274d2df040f7dfb2a3bd3a4dbc80b14e8b0cc900
+size 135353637
diff --git a/dataset/move_pillbottle_pad/ARX-X5_clean_level3_50.zip b/dataset/move_pillbottle_pad/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..346d051b9d7adf015a834d8708b8bd64773d47f1
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383d32d20296e086c35630e6d43a48560effeed2275d57b6653cff20e925ec52
+size 134260368
diff --git a/dataset/move_pillbottle_pad/ARX-X5_randomized_level1_200.zip b/dataset/move_pillbottle_pad/ARX-X5_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3aa9990eff88c56521dc03b56e4257ef013c8519
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ARX-X5_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de5f40ba64d90b8adbb3b3933a06f24b76c1bdcd4d5c0d9bce5dadebb9e84f6
+size 997235621
diff --git a/dataset/move_pillbottle_pad/ARX-X5_randomized_level3_200.zip b/dataset/move_pillbottle_pad/ARX-X5_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..2101c0aa1c115485b900b807a69564b876970337
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ARX-X5_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f72c4ed1e6e6f806f25688abd79fa78d4e8d2a458bd566219de87d024498bb
+size 1000573682
diff --git a/dataset/move_pillbottle_pad/aloha-agilex_clean_level1_50.zip b/dataset/move_pillbottle_pad/aloha-agilex_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..2fd1a34251f6ee3f1fa25c7948817fa0e3e48a8d
--- /dev/null
+++ b/dataset/move_pillbottle_pad/aloha-agilex_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06ce759c2e5005200b3cc5a566e6613feeaa6100fff3e37106cdd56fb934469
+size 291500274
diff --git a/dataset/move_pillbottle_pad/aloha-agilex_clean_level2_50.zip b/dataset/move_pillbottle_pad/aloha-agilex_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e260ce4bbb69db364f08c7a597f9c4b38355a6ed
--- /dev/null
+++ b/dataset/move_pillbottle_pad/aloha-agilex_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2dfbed3841b85a1e8008475274aeb666b3f5d858206ded375580a850a31e55
+size 287670614
diff --git a/dataset/move_pillbottle_pad/aloha-agilex_clean_level3_50.zip b/dataset/move_pillbottle_pad/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6c826328220da48fed9298831f43548afa96a27e
--- /dev/null
+++ b/dataset/move_pillbottle_pad/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf309ad3d0589143503602763e6cdd43754af6236538984adc3135f8f77da79
+size 289425456
diff --git a/dataset/move_pillbottle_pad/aloha-agilex_randomized_level3_200.zip b/dataset/move_pillbottle_pad/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..44c0ec19169e8efa4441583729d9a425ae06aa36
--- /dev/null
+++ b/dataset/move_pillbottle_pad/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3cfd9ef53d4fed25f7b6b9065a07ace6ce626c7419ff6f3e8800ac7ec82d1b
+size 2115501563
diff --git a/dataset/move_pillbottle_pad/franka-panda_clean_level1_50.zip b/dataset/move_pillbottle_pad/franka-panda_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1b39dc207d2838fa4b42bbbb7b4570fb3c840647
--- /dev/null
+++ b/dataset/move_pillbottle_pad/franka-panda_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d2814a5cac0373e031d33148a572648803820286804676b8f17f8216060b3ea
+size 106753683
diff --git a/dataset/move_pillbottle_pad/franka-panda_clean_level2_50.zip b/dataset/move_pillbottle_pad/franka-panda_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..129a1514c68190d3c27adf7a47e91b48db613307
--- /dev/null
+++ b/dataset/move_pillbottle_pad/franka-panda_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48bddd6f62f6156c823dcddd3521203a0bba7c14e7da1bff588e50f61892a6c
+size 105874002
diff --git a/dataset/move_pillbottle_pad/franka-panda_randomized_level1_200.zip b/dataset/move_pillbottle_pad/franka-panda_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6adce3678a619a1ced948069c925f5f3a67de139
--- /dev/null
+++ b/dataset/move_pillbottle_pad/franka-panda_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc453da610b891d8ff491c651614a8a13b494e31adb5e82697ccd09deeda4f3
+size 840618258
diff --git a/dataset/move_pillbottle_pad/piper_clean_level1_50.zip b/dataset/move_pillbottle_pad/piper_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..be863c6fe39163ea4cb4e6ebb498395ebb05462d
--- /dev/null
+++ b/dataset/move_pillbottle_pad/piper_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e344a05f85d621eed1b914e9a54416aa4bdd2e7dc38a931ddd16dbd38b6c4a59
+size 115898166
diff --git a/dataset/move_pillbottle_pad/piper_clean_level2_50.zip b/dataset/move_pillbottle_pad/piper_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3b7a9b65294d4540f02efe549d840e7d15dfb2b5
--- /dev/null
+++ b/dataset/move_pillbottle_pad/piper_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5396b045fc3500ee77a0814e7bb6372e07de69a2eddd6218b3b5120d607d31
+size 113563645
diff --git a/dataset/move_pillbottle_pad/ur5-wsg_clean_level1_50.zip b/dataset/move_pillbottle_pad/ur5-wsg_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d43b1dc58c80ceb4194f4d4de9e532bfa0beace2
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ur5-wsg_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018627bf3ae7194385f0d3ba90cf4afe8dc05fafe5ffc198740428ed50050c4e
+size 118266142
diff --git a/dataset/move_pillbottle_pad/ur5-wsg_clean_level3_50.zip b/dataset/move_pillbottle_pad/ur5-wsg_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..016d04290464a3b3dec7ed849f6170c14f653526
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ur5-wsg_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83704189a43339edc17584b620f3534826a0382676cfe5f07d89be65da55a84c
+size 117753820
diff --git a/dataset/move_pillbottle_pad/ur5-wsg_randomized_level2_200.zip b/dataset/move_pillbottle_pad/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8f4230dcfa3602504f8a20dd09fbfb3bef084daf
--- /dev/null
+++ b/dataset/move_pillbottle_pad/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd493089a94afa02640de0228473cebf07d34f914d7402430ecdcccfb9836fe
+size 922542351
diff --git a/dataset/place_shoe/ARX-X5_clean_level2_50.zip b/dataset/place_shoe/ARX-X5_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e8d40f6923b55510d70632d845ec6a67c3efab54
--- /dev/null
+++ b/dataset/place_shoe/ARX-X5_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b470415d7a444335e7eaad16a33a4b25c5e2be9658714141fe1086a3c708347b
+size 167627659
diff --git a/dataset/place_shoe/ARX-X5_clean_level3_50.zip b/dataset/place_shoe/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a89338d44f128f28461b1542a8e43e90e806ce6a
--- /dev/null
+++ b/dataset/place_shoe/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c29923740702ccd616d17e3516a4b081f3dc0688b63be0f2979c53caca044a3
+size 165261469
diff --git a/dataset/place_shoe/ARX-X5_randomized_level1_200.zip b/dataset/place_shoe/ARX-X5_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..3839a539a4df587e16644f148d59591ac6f0af73
--- /dev/null
+++ b/dataset/place_shoe/ARX-X5_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5739dd562f0e2f70e4b765af582fea5a8e73b0f0f1aa41e308e64e4af618a51f
+size 1196616042
diff --git a/dataset/place_shoe/ARX-X5_randomized_level2_200.zip b/dataset/place_shoe/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..156b48895f0f1085944868ed14504c08e3ff5292
--- /dev/null
+++ b/dataset/place_shoe/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afdfd6236b8051db21bb16fbf8cc2fbab1a35fa3449534e58b98a0092d88371
+size 1208347203
diff --git a/dataset/place_shoe/ARX-X5_randomized_level3_200.zip b/dataset/place_shoe/ARX-X5_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..bafd1e52d59614040fbbfd752bd0c6b5f394f9b2
--- /dev/null
+++ b/dataset/place_shoe/ARX-X5_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd28378500cb42b1b73a0aae6103b093844789075aa8d0a0e31922de820476a
+size 1213853883
diff --git a/dataset/place_shoe/aloha-agilex_clean_level2_50.zip b/dataset/place_shoe/aloha-agilex_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d475980dfaba7e067c9778835f7d36bfbc267
--- /dev/null
+++ b/dataset/place_shoe/aloha-agilex_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81321f1ee9f7cadd2d2e15feb8e9a8db0f1da85300f8ba72361c980a33b7ac1
+size 376267922
diff --git a/dataset/place_shoe/aloha-agilex_clean_level3_50.zip b/dataset/place_shoe/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..2d22f907dcb71e9542fff705f94187cc4b894806
--- /dev/null
+++ b/dataset/place_shoe/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5f8ae9bb5c2b197aa3c563c9bfdbde9bf87154dd2f0aec529b1b467f413fef
+size 376400944
diff --git a/dataset/place_shoe/aloha-agilex_randomized_level1_200.zip b/dataset/place_shoe/aloha-agilex_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..efd43fa80cb949b2785908581129fb8f66edde5b
--- /dev/null
+++ b/dataset/place_shoe/aloha-agilex_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8629b24ade9bdbad14f7f5e3d1ce8a141e37245a71d30e2abb7b84e9ea766538
+size 2523049943
diff --git a/dataset/place_shoe/aloha-agilex_randomized_level2_200.zip b/dataset/place_shoe/aloha-agilex_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..068c8193cb953747d1107c8c99fbfbbe98cd4838
--- /dev/null
+++ b/dataset/place_shoe/aloha-agilex_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdfd4d1521490fd093e71b3f4736061fcbdf0e87e4dcad1891abd124ccd176e8
+size 2532527867
diff --git a/dataset/place_shoe/aloha-agilex_randomized_level3_200.zip b/dataset/place_shoe/aloha-agilex_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..f0bb910aff7f451b705beba4436979ee20040fc5
--- /dev/null
+++ b/dataset/place_shoe/aloha-agilex_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dff910643a55085b4781f01c34f97ce16064a3dbba19d94d7464fe4a2b47c6a
+size 2583612189
diff --git a/dataset/place_shoe/franka-panda_clean_level1_50.zip b/dataset/place_shoe/franka-panda_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1023d2c43ae58e8f64729677f5266f43316da930
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11587b0c626962240475da63aca8340a7e213458bd559b7889e24966efc20c59
+size 177417199
diff --git a/dataset/place_shoe/franka-panda_clean_level2_50.zip b/dataset/place_shoe/franka-panda_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a69f22139b2dd5ae256a2bb50ad92df17262147f
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803295eb08a20bdbdbba6fbb9e836b827cf912126a62cb140a84d95cf610d0e0
+size 173636237
diff --git a/dataset/place_shoe/franka-panda_clean_level3_50.zip b/dataset/place_shoe/franka-panda_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e0778595b2027252205c4be490f30e8328729a4b
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424d053e5380787961a1d57de04f39cea72670eaf7df0e3cfceeecc7a662885d
+size 174181344
diff --git a/dataset/place_shoe/franka-panda_randomized_level1_200.zip b/dataset/place_shoe/franka-panda_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..cea3eb48160e4dcea8b8f66c005298e7dcb2b65b
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3693a46518351083376b0f0d37ebcf8a3e27a7bae441daebfe14b10d1286124d
+size 1153182027
diff --git a/dataset/place_shoe/franka-panda_randomized_level2_200.zip b/dataset/place_shoe/franka-panda_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..256272e1e9dcb49f43c52f7c34968f86d7070435
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1850f1cf40c98508d8d6c803f4cd7be98aafa69e222396e0d4b4bb1b921e9a4
+size 1130255286
diff --git a/dataset/place_shoe/franka-panda_randomized_level3_200.zip b/dataset/place_shoe/franka-panda_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4e62f15b80517239c28f5825c187a54d75f45d6a
--- /dev/null
+++ b/dataset/place_shoe/franka-panda_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1d080c21f018284f670f8264dde5bac81923e8918d0b836b8a3a93ebebf998
+size 1117394252
diff --git a/dataset/place_shoe/piper_clean_level1_50.zip b/dataset/place_shoe/piper_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..118ed7bc1de7fedb058d7ac9d4be7006feabc88b
--- /dev/null
+++ b/dataset/place_shoe/piper_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ce80cafd0170450a4fe7f1fe5f42cf4a767a6d4e34f8cdd9ff7918acc630c8
+size 180227559
diff --git a/dataset/place_shoe/piper_clean_level2_50.zip b/dataset/place_shoe/piper_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..a82b62df149c8d11a66f9421870178662c4452a5
--- /dev/null
+++ b/dataset/place_shoe/piper_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5af4acdaeacc4343d180e60726a6691bf2ceae41a6de9536cfa90af663c1168
+size 178360017
diff --git a/dataset/place_shoe/piper_clean_level3_50.zip b/dataset/place_shoe/piper_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1c4e65c627b1cc4aaff0ae8a2a7a48fa05ed3292
--- /dev/null
+++ b/dataset/place_shoe/piper_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf4601620a8a51a1bc2580c1d810ebe324bc3246ff20e7d24f07d3d7b3794aa
+size 175803497
diff --git a/dataset/place_shoe/piper_randomized_level1_200.zip b/dataset/place_shoe/piper_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..edc543ff51d31063197f6acb380fef498b078023
--- /dev/null
+++ b/dataset/place_shoe/piper_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d59e3956c9d111ae9b3c9aabee04ab13993f44bedfd5158b324e5091bfe2f11
+size 1363803176
diff --git a/dataset/place_shoe/piper_randomized_level2_200.zip b/dataset/place_shoe/piper_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8baaeb84b4e33b19b78e3d550de3c2a5da041f9a
--- /dev/null
+++ b/dataset/place_shoe/piper_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3ae16532b8f067fcab43da17a46852a4ecc000fb5daacb418b05d9eea4d988
+size 1358935156
diff --git a/dataset/place_shoe/ur5-wsg_clean_level1_50.zip b/dataset/place_shoe/ur5-wsg_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..eedcd7c405bf49ab94c9ba25dcfb6b32797dd07a
--- /dev/null
+++ b/dataset/place_shoe/ur5-wsg_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4611c647cefbe6dcf4cc9341a498a6efa11f371ad1127f95869160612489d3e1
+size 194406620
diff --git a/dataset/place_shoe/ur5-wsg_clean_level2_50.zip b/dataset/place_shoe/ur5-wsg_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..27a119614f0b31ee629b41e08b80d6259b4a8387
--- /dev/null
+++ b/dataset/place_shoe/ur5-wsg_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869e6ed4f3985ab96ec238f9182ed4f621580e0ed450f8ad9e47ad260349da39
+size 195316626
diff --git a/dataset/place_shoe/ur5-wsg_clean_level3_50.zip b/dataset/place_shoe/ur5-wsg_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..de0a9c18296c443e67b66def2a09f1ef303fb11a
--- /dev/null
+++ b/dataset/place_shoe/ur5-wsg_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65affbdd71d3d807e8158f5245e14c746e3ad92bf968625707320462a37cd9f4
+size 196528214
diff --git a/dataset/place_shoe/ur5-wsg_randomized_level1_200.zip b/dataset/place_shoe/ur5-wsg_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..7f9527fd1f8ed5f9b7c6a1a6ed3825d6f238e916
--- /dev/null
+++ b/dataset/place_shoe/ur5-wsg_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:914c3a6b4d7a73bbcbcc27a31af2eff222d4e8507119d13fbb07ad426f1b970b
+size 1270049970
diff --git a/dataset/place_shoe/ur5-wsg_randomized_level2_200.zip b/dataset/place_shoe/ur5-wsg_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..457afa5d3d9f0009bdccbd0ae7587cdca9ce1064
--- /dev/null
+++ b/dataset/place_shoe/ur5-wsg_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ede8f9da222a6689f88c9d317e0ff0ae35a829ee610569faf3ddc9166522ce
+size 1247005565
diff --git a/dataset/press_stapler/ARX-X5_clean_level1_50.zip b/dataset/press_stapler/ARX-X5_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..10b2af56c8d344f4c31ac637073e684ce8b50e21
--- /dev/null
+++ b/dataset/press_stapler/ARX-X5_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9fb5c4a63aebfb25eae941a3043c91dcecf81f0067041c6c0492daf532be04
+size 56102367
diff --git a/dataset/press_stapler/ARX-X5_clean_level2_50.zip b/dataset/press_stapler/ARX-X5_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..862334877672ba6b93ddec95cc7a97fd3f93198f
--- /dev/null
+++ b/dataset/press_stapler/ARX-X5_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5d2dc7fa5efc8f07d8d9284d3e7b35638995960b7412d0ea5e2da2b560240d
+size 54884986
diff --git a/dataset/press_stapler/ARX-X5_clean_level3_50.zip b/dataset/press_stapler/ARX-X5_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9cc2b0bc530aa179485186713090e2ff93e8ac1b
--- /dev/null
+++ b/dataset/press_stapler/ARX-X5_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509edebc23432c8c9f7c3a332301a6c9ff2e3770aac472865fdb8c556180cc88
+size 54350094
diff --git a/dataset/press_stapler/ARX-X5_randomized_level1_200.zip b/dataset/press_stapler/ARX-X5_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..78e5f7cec9a295b730cdb7e9ad254a29e2c9f8f7
--- /dev/null
+++ b/dataset/press_stapler/ARX-X5_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4ca23ffad09193baa400c259dfc7c15d90994db30c9e73ee443ca40a9d9ac8
+size 508698736
diff --git a/dataset/press_stapler/ARX-X5_randomized_level2_200.zip b/dataset/press_stapler/ARX-X5_randomized_level2_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8d82cc606bd5842391033945e55ac22e0fdf906e
--- /dev/null
+++ b/dataset/press_stapler/ARX-X5_randomized_level2_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4209abb8151d056bc9ba58bb7377c6402fa9316c2a5ff2e5af3def7eaa7828b
+size 507767576
diff --git a/dataset/press_stapler/aloha-agilex_clean_level1_50.zip b/dataset/press_stapler/aloha-agilex_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..64df87c801b4e1de006cf12262ba66271c6c1263
--- /dev/null
+++ b/dataset/press_stapler/aloha-agilex_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e87e7accbf7cc539f6e166c9e91fd28850816fcf0e0b195128d272279a1c53
+size 134825925
diff --git a/dataset/press_stapler/aloha-agilex_clean_level2_50.zip b/dataset/press_stapler/aloha-agilex_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9c89be53ee9b97a377659bd1718b8dd7216dd5ce
--- /dev/null
+++ b/dataset/press_stapler/aloha-agilex_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95de714e37f1f06fe090f13c2900232382ee4d3c8e495311aa1dc48650c18ef4
+size 137331889
diff --git a/dataset/press_stapler/aloha-agilex_clean_level3_50.zip b/dataset/press_stapler/aloha-agilex_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..da6e9e205cefcd59a43e97113062f2f21108e233
--- /dev/null
+++ b/dataset/press_stapler/aloha-agilex_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b83bb47f0c9bc1d2e4aededdf43b61ce04ebd33ef157c4d4d6d663c5d04e60
+size 134453280
diff --git a/dataset/press_stapler/franka-panda_clean_level1_50.zip b/dataset/press_stapler/franka-panda_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..cf51d6fbd0e37b5103c691e4e7e7025044537441
--- /dev/null
+++ b/dataset/press_stapler/franka-panda_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168544b240a9d4f0de877c030ac76fcb0b31fc8fec165ceccd75c8d69e5e8d0d
+size 49520595
diff --git a/dataset/press_stapler/franka-panda_clean_level2_50.zip b/dataset/press_stapler/franka-panda_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..329210a62e49f1d256520d42f4eb58afd2f385f9
--- /dev/null
+++ b/dataset/press_stapler/franka-panda_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc37d977814331f69c68231d05e413292289d99183543a20fbef49c858a4f9f3
+size 48828873
diff --git a/dataset/press_stapler/franka-panda_randomized_level1_200.zip b/dataset/press_stapler/franka-panda_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d14ee1afb1980327abfebf83dd59b98495a696f1
--- /dev/null
+++ b/dataset/press_stapler/franka-panda_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b96066b6a67bb2103b3714163fbf6352ea89d678d2b1595f2e47c58bd633eb
+size 448443903
diff --git a/dataset/press_stapler/piper_clean_level1_50.zip b/dataset/press_stapler/piper_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1d11151f5e9e000531c5350e23451e570b842879
--- /dev/null
+++ b/dataset/press_stapler/piper_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5dc72ebeefe1cc8cc10ede7ea93393c088839c1315abb0c5441d3c3d093d5d
+size 59206202
diff --git a/dataset/press_stapler/piper_clean_level2_50.zip b/dataset/press_stapler/piper_clean_level2_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..9bbd6020b0e2ed47591769a37770bb7e2ddd048b
--- /dev/null
+++ b/dataset/press_stapler/piper_clean_level2_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8765523f3ab826c44c7e363079cb5ec5deacc43965a0ceae8a37f6162a954ef1
+size 59286613
diff --git a/dataset/press_stapler/piper_randomized_level1_200.zip b/dataset/press_stapler/piper_randomized_level1_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8d3d2e81b2010423ddba31d28db313ff6ede6cd5
--- /dev/null
+++ b/dataset/press_stapler/piper_randomized_level1_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f413fca8544bb2f418a22bedc5d3acc4383dda236a06f8ed78c5cc925b6c886a
+size 626966657
diff --git a/dataset/press_stapler/piper_randomized_level3_200.zip b/dataset/press_stapler/piper_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..cef79d667f552102b3ed08af9b2f0cb54893fcfb
--- /dev/null
+++ b/dataset/press_stapler/piper_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d647b548edb9ab82683993547a8fa4e14c0671b9d0360dada9044f392ad6a876
+size 608356030
diff --git a/dataset/press_stapler/ur5-wsg_clean_level1_50.zip b/dataset/press_stapler/ur5-wsg_clean_level1_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..b5209904045d6ce16272e5c8e2a65f4bbc062c89
--- /dev/null
+++ b/dataset/press_stapler/ur5-wsg_clean_level1_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8c8fd68c3629c55851140fb634b25bfa010a23588c3d7e7a299ab4965cc4d7e
+size 52610821
diff --git a/dataset/press_stapler/ur5-wsg_clean_level3_50.zip b/dataset/press_stapler/ur5-wsg_clean_level3_50.zip
new file mode 100644
index 0000000000000000000000000000000000000000..dec19e221734f70c185f123ebef1f4e36121310f
--- /dev/null
+++ b/dataset/press_stapler/ur5-wsg_clean_level3_50.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d315db14ceebfbdd84d35092bfa1e39aef205fe153547ed0b9b02e3c44a9b4e8
+size 51743548
diff --git a/dataset/press_stapler/ur5-wsg_randomized_level3_200.zip b/dataset/press_stapler/ur5-wsg_randomized_level3_200.zip
new file mode 100644
index 0000000000000000000000000000000000000000..eac57d76020740a21f9be5c725424b55d1b7ef6e
--- /dev/null
+++ b/dataset/press_stapler/ur5-wsg_randomized_level3_200.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ee3c39fd2b96cc616932eb931721c21497c517659f2b63cac5c4005860674e
+size 469750356