diff --git a/.gitattributes b/.gitattributes
index 78e7029c26758a4e54ce908a884c2055836a4c1f..f00543d937e3e68f08b8c36b982b150067d22690 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -17363,3 +17363,103 @@ move_stapler_pad/franka_randomized_500/data/episode130.hdf5 filter=lfs diff=lfs
 move_stapler_pad/franka_randomized_500/data/episode114.hdf5 filter=lfs diff=lfs merge=lfs -text
 move_stapler_pad/franka_randomized_500/data/episode210.hdf5 filter=lfs diff=lfs merge=lfs -text
 move_stapler_pad/franka_randomized_500/data/episode298.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode389.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode393.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode41.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode233.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode364.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode222.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode405.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode404.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode203.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode333.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode442.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode391.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode498.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode395.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode39.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode145.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode238.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode55.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode221.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode309.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode214.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode263.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode446.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode340.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode428.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode464.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode169.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode146.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode232.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode334.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode211.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode382.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode306.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode137.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode235.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode324.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode205.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode381.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode358.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode70.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode447.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode75.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode432.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode69.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode240.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode293.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode88.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode157.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode215.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode424.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode220.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode328.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode378.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode175.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode463.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode470.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode356.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode36.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode494.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode213.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode43.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode33.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode49.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode76.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode116.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode109.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode419.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode96.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode78.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode31.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode218.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode477.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode104.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode383.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode59.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode359.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode167.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode195.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode452.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode294.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode433.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode54.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode288.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode471.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode425.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode376.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode26.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode128.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode406.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode396.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode21.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode134.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode426.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode402.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode316.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode57.hdf5 filter=lfs diff=lfs merge=lfs -text
+move_stapler_pad/franka_randomized_500/data/episode84.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/move_stapler_pad/franka_randomized_500/data/episode0.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..24c8a6521e4f41ab43b2b5f19798879021b702fb
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aa1f78cb6c69983ef91e86c51f46fa1f836d410475f962370ed33c2e6114298
+size 7005152
diff --git a/move_stapler_pad/franka_randomized_500/data/episode104.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode104.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..328c9e0cb3636d7dcbf1b84e3f598a3e7e01c4bd
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode104.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7f34fcb3f034e9e35d63540c01ad02be8da5c76884505ede55aa81d6d7b0ae
+size 5784438
diff --git a/move_stapler_pad/franka_randomized_500/data/episode109.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode109.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..08940136d80ca4736c2e66f017cba7913d95438c
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode109.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044d5724e18eb6fd6a734810d212d5b193e0b9a2771ab426222b5e767e348d0e
+size 7086338
diff --git a/move_stapler_pad/franka_randomized_500/data/episode116.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode116.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..060abd806f0d4bf759fbd5dc2b7338e75dc03186
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode116.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66006f2dee2d3d1c8e9f7972e76aa276fd5a5f46a6a90e10dfb2eb14ee2cf5d2
+size 8222137
diff --git a/move_stapler_pad/franka_randomized_500/data/episode128.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode128.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7ad148d755dc5579b0a365f7c73bb80b518881d9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode128.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb49e838ed85ba429282fbd4da015e168a258d5e3fcdf421c22a304806331ab9
+size 8989832
diff --git a/move_stapler_pad/franka_randomized_500/data/episode134.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode134.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dc56e6b2820ce3f04c5ec7a5e65dcd34b6e94e47
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode134.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6dfa9316021ed54a9f80a69e4067061039945c607ac09f5d67cf9753de1024
+size 6868328
diff --git a/move_stapler_pad/franka_randomized_500/data/episode137.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode137.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b6c5b54a65d2b9ccff3e59f495bb65b1324d96bb
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode137.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3492dba0653fc4ec4f4ebbe631d0151e392c319d2fe69b36a4fbda5c9bb08a
+size 9687152
diff --git a/move_stapler_pad/franka_randomized_500/data/episode145.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode145.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f93efbcbf28c53adf42841b5c49179ae3bad0bce
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode145.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7dbd30ccf11e74719c85beaffe007042b27e525f6ff6552c0a3e89e589507c
+size 10092296
diff --git a/move_stapler_pad/franka_randomized_500/data/episode146.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode146.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b687c75939deaa196ac49952b3c1e0739407c247
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode146.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74400bfb0475fc6c0bd10e38d58f43a64e6cc1614be95b516567fc6a31016c87
+size 7726102
diff --git a/move_stapler_pad/franka_randomized_500/data/episode157.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode157.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..03b9470f5983502e8a8b65e0cfcffb64e2c0ee5b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode157.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:035944a227b293044b2a08363234b4b8de9133d058ae619da8fc9ac5e3dda092
+size 7402998
diff --git a/move_stapler_pad/franka_randomized_500/data/episode167.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode167.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..12273b1f78d24167da191426760706123ef7f6da
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode167.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868b9104f0fab42b60a6813b03d785b879698d67001497b17ae0fa23c31ea9ec
+size 7223816
diff --git a/move_stapler_pad/franka_randomized_500/data/episode169.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode169.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dd2c25ab38805057ee374ff0473093904ecc50df
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode169.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7729fc062e411237ae105dfd6c9b1bd261cca92fce708c4551570c7717e3bffc
+size 6018902
diff --git a/move_stapler_pad/franka_randomized_500/data/episode175.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode175.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2654d268237b6cdf15109d9cbfd35ea966e287f9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode175.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54de667b936ce7982d2679fa77efcb9c5305b0df373bbd1330dd7d288b82d42
+size 8103888
diff --git a/move_stapler_pad/franka_randomized_500/data/episode195.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode195.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..57d13e9d96c468ab1ec3650b5f74e80e5d64154f
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode195.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd72cc24b54139430dbd6b32088d80b3699e1891d73f010f5c9bcfe7359f3951
+size 8206902
diff --git a/move_stapler_pad/franka_randomized_500/data/episode203.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode203.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..99d822091f2ef22bfc84a30294d0169759294438
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode203.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d106379e873c6e44d7aeca551ad41cc4b310f6b1b77c93c39e95b9f36e1864
+size 6996908
diff --git a/move_stapler_pad/franka_randomized_500/data/episode205.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode205.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a01b4d15308e3ad32f5149472b53c5599aefdb23
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode205.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b779484887096425ad08f2274af4e487c95400df2f4c389614503d26ae5d0488
+size 9728320
diff --git a/move_stapler_pad/franka_randomized_500/data/episode21.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode21.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d4e60bb7e8d2ee58a6d99440c21fcafc720c2051
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode21.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad870d3dc1e534562e9bb06c2fa65013fcf7ecb19c1fb06657fefd10f7a4b232
+size 7727084
diff --git a/move_stapler_pad/franka_randomized_500/data/episode211.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode211.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..27301309a9e93de63698f67871638833df486b75
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode211.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bb1260041a394883eb5a5e7e7eb45ee82567f317e8db47c15c650b18679f5a
+size 6072558
diff --git a/move_stapler_pad/franka_randomized_500/data/episode213.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode213.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0a4f832aa1e7cf36e7595695d12e142f43c55f0c
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode213.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99d65a3b185cbd8f46489e71df9d9ea88f8c2d3d970a0b10edcfaf319e082ef
+size 8763542
diff --git a/move_stapler_pad/franka_randomized_500/data/episode214.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode214.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8c3c5a9a19ae81ab2f1bb145b9fa9b2b7666bda7
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode214.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d00005aae379632be74b91570baf21724fb2028ea7002c3d00dcab664b8e01
+size 6028941
diff --git a/move_stapler_pad/franka_randomized_500/data/episode215.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode215.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9af653933fb5c8be6144b60ef964ee288a566dac
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode215.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8bf94dcb2f918e5fb81a23a35487fe2bb96b59ca3bde3a4544c8f6c0b35d0fc
+size 9742370
diff --git a/move_stapler_pad/franka_randomized_500/data/episode218.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode218.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7fe1e4cb963c5f240a8b69dd201d737f39c38985
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode218.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00763952354b3dff6c0795900fe7c4549583bf443dce37c11126bff798c7bd3d
+size 6564920
diff --git a/move_stapler_pad/franka_randomized_500/data/episode220.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode220.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4727d69fa706573ee2e91a4283c57cc077647cd2
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode220.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6f16bacaef00a7b7c79fcab9a52f8888c045577a70e9bc41184938bc482557
+size 7832594
diff --git a/move_stapler_pad/franka_randomized_500/data/episode221.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode221.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3e86a9b8c842140d378aa3b29c80026707bdd4fa
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode221.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c64f0a1a7c53df082751d7cf05d8df0013f01670a6d7c545b87e27f173b926
+size 7216467
diff --git a/move_stapler_pad/franka_randomized_500/data/episode222.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode222.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..efff3ff5bc0031b4f7f9b34444bfb195dd1d10c1
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode222.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87336720d3e02fbcf735212a417693b20b4493003fab8424b970d504c17e048b
+size 7357723
diff --git a/move_stapler_pad/franka_randomized_500/data/episode232.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode232.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..57dd22088fe2b1dc1ff4db1add3e70213d6927b7
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode232.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67172c548af7e0990e435f5f7b2ff865ad92a6ef0fbbaea6ee3b2eea130ada8f
+size 12677609
diff --git a/move_stapler_pad/franka_randomized_500/data/episode233.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode233.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..55f20adc6a053fb66b1b03e777215f31ce09bc09
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode233.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35249886433b74cff9faa915bf6bd1bad0af691e0da16e44c47024ef2bc3db4d
+size 6521680
diff --git a/move_stapler_pad/franka_randomized_500/data/episode235.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode235.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4016c49e9fcc1508ccc6b04be1fbd114a2a6758a
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode235.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b06933b88ce133d0b5f42dae247c577a62925001880df69e43d620604ece544
+size 6295892
diff --git a/move_stapler_pad/franka_randomized_500/data/episode238.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode238.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..97373c645fce1cabf3f0faf72c9011fbf3e629ac
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode238.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff95fa7bf60f59cdf63cee7bd271912fa83559f944b6c4a05c12d93cfe9da10
+size 6468671
diff --git a/move_stapler_pad/franka_randomized_500/data/episode240.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode240.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..73164fd8d3098025a204b12f83a2ceb81a2fe97c
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode240.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3687c94761eb1bc408a182db50f66fa2484c9fc78c919885de6b54b9412ac234
+size 7673223
diff --git a/move_stapler_pad/franka_randomized_500/data/episode26.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode26.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fb103ec5da1cb4b89f9e448100f8240ec917884e
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode26.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b47b279c3f46b79b9ca6ad35831cf3cec3110065ca8530b0bc935bac994fa3f
+size 6928280
diff --git a/move_stapler_pad/franka_randomized_500/data/episode263.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode263.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9df3856ea0eba5d063256ee91e951ff4dd90af0a
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode263.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a1973ed92de59a76801ab877b61f09cc79c8d9787a0137b22c4ba513c2f436
+size 7723242
diff --git a/move_stapler_pad/franka_randomized_500/data/episode288.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode288.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d43792e15514d4c6ae6f2ac604d8b15ecf32b369
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode288.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9fd9c70ba0d7c57d7eeaad694a8e8d47fd01d62ef61268c5b7d0479682848ab
+size 7560557
diff --git a/move_stapler_pad/franka_randomized_500/data/episode293.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode293.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ae3cc3f0c0c7c00f896cd9048f4c9ec79a2f718e
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode293.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0600fb0dbf96b68ae3fd632fb2bc3b3646f9bbeba8876a886f7fe1b2261071f
+size 5609732
diff --git a/move_stapler_pad/franka_randomized_500/data/episode294.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode294.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f8193632ed14ab20276318fd4bf40e6d8f6145b9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode294.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0b0cbbf93321ab6c62e7ad3171b5e386e3a6db1bed4d0531548753568a23e3
+size 5992532
diff --git a/move_stapler_pad/franka_randomized_500/data/episode306.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode306.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0a1e4113288dfe46679393f78c240a4b76911b6b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode306.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c912632760ef6a3f68bf939f1e459aa233aca97bf461427d552e309bf48bd753
+size 10679004
diff --git a/move_stapler_pad/franka_randomized_500/data/episode309.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode309.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b4d96909a0e4a5bb3ecf2891c8b478fd631c81b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode309.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18cb9049d6106c2bc38707034c3a3445828604fb51923bf409a544bd958fc8d
+size 8548688
diff --git a/move_stapler_pad/franka_randomized_500/data/episode31.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode31.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8a9d4e8519f96e1a6018c21e46b40020d3be4c22
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode31.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f982061b0f3f584f1a71644134297db32161a89f825ebe05239beb49f456e31c
+size 8088296
diff --git a/move_stapler_pad/franka_randomized_500/data/episode316.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode316.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..aed0c6cf6c9502d8547b174322f65709844b12bb
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode316.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60a0e9292cbccc689e4c7223d4cc184449e76773612455d4db90189de496607
+size 7507547
diff --git a/move_stapler_pad/franka_randomized_500/data/episode324.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode324.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f94021432d1d0d80f44c68e76e465826ef4630d9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode324.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e09b75d00de3a42358925f13d109fc9adf70d34fce6666c72c8d78e292ef044
+size 8782598
diff --git a/move_stapler_pad/franka_randomized_500/data/episode328.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode328.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ad2ae337b6796b708e75a9ce74db1e530e2ea0ab
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode328.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7105d3c578dbc589fcd509f9eef7d41545b0dc023bee7578e11aec3a1e13b8c
+size 9735828
diff --git a/move_stapler_pad/franka_randomized_500/data/episode33.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode33.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..56d4b986a7f43efc8fb23b9b6d6743e44cb2e094
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode33.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8594330a628dc3e688bc13ed127b96a932e1f9cd2e56945cdca6429b07b6cd0
+size 8942986
diff --git a/move_stapler_pad/franka_randomized_500/data/episode333.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode333.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..558e8c95cb63b4856fac8ec4e667cb9db5283a46
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode333.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:accf7d4452aa8729eadc88b50a85456b66159f6d6f5407fe32aeb947fce2d32c
+size 9334778
diff --git a/move_stapler_pad/franka_randomized_500/data/episode334.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode334.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b5fa0b31800cd5d3fea650574d602a72590c9461
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode334.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b1b865cf0608526b7bc8b1727ca7ae06852e2edd720dfd101ea1a494625922
+size 7960904
diff --git a/move_stapler_pad/franka_randomized_500/data/episode340.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode340.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7f3d645e6399188e7ec36860f669d818cf64943e
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode340.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b74999a613af480b0a39afc1efec9dfff3a24f11c3689ca41dfef1cdfe2fbc7
+size 6398934
diff --git a/move_stapler_pad/franka_randomized_500/data/episode356.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode356.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6b9ffc4f346f14ebc2b514d84fafb88d3cba46c1
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode356.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d668d2ccd1f24d6290d54afab4fa2b6a8f8f18c36cf4fffc4f3e862cc243d26
+size 7106024
diff --git a/move_stapler_pad/franka_randomized_500/data/episode358.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode358.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..412d8ecb1861799fc74018a1ee81b7b9fa07ee30
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode358.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f87563e1ea965cf54ee9441ece0bd49cabc68d1b0326bf5df1ab5a94ea29eb
+size 7591432
diff --git a/move_stapler_pad/franka_randomized_500/data/episode359.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode359.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..232b4f771f545fdcb2b39cd9efb87e6ea24df4a0
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode359.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e528e89e0422fd59d5836365d915fac8be1c440c4653cb5982cfabb67c130f
+size 9930552
diff --git a/move_stapler_pad/franka_randomized_500/data/episode36.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode36.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d25feb6ff9606ec9162b9497098dd5974c544f88
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode36.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efe9cb4190ef35a28d1590dd909b725cc6a282408596bbcf2fb5c25bf109d6a
+size 7688736
diff --git a/move_stapler_pad/franka_randomized_500/data/episode364.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode364.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..caf401bbd9b9ef8e8dcb9eb89ba8e88a657bda62
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode364.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9abc8c312f5d4e56c47be720710fb253f76f7e3e3131f9f940fa4c0d30ac888f
+size 9548624
diff --git a/move_stapler_pad/franka_randomized_500/data/episode376.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode376.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..701610852bfb9e755d215c7263aff013e266150c
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode376.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef39c446ee662083a50ed2105fe8c47c7a6e11d71b493e373e9ce38587ba21d
+size 7442876
diff --git a/move_stapler_pad/franka_randomized_500/data/episode378.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode378.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a39ee4fddead514daf48d70455fe10ffb8692918
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode378.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb2090a18ba4dd238ff30f648eae748a6beea82f41f93f7b9f62ebf059dcab5
+size 10229096
diff --git a/move_stapler_pad/franka_randomized_500/data/episode381.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode381.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a716afbf95505b9c4e9f6a5444731256b6f5814b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode381.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbb41592487128178dc6f17cde8ea478a6bbb1a75275e662eac85601f9dcb62
+size 6006654
diff --git a/move_stapler_pad/franka_randomized_500/data/episode382.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode382.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fd632fc195e298821e392fd3230f7747b94f6e08
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode382.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb40020074c83eed29b9ffa472e9806c6a29cff7ba10ceb200f5043a14e675fc
+size 7485830
diff --git a/move_stapler_pad/franka_randomized_500/data/episode383.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode383.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..99fb6df75d48be29358eb6500eb19e6149928c04
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode383.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa871cfec0beeb0457e8f39335cad264eeb2a5d8c161f7f2bca2e7d316bedbf9
+size 5783789
diff --git a/move_stapler_pad/franka_randomized_500/data/episode389.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode389.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..351ede6f44962c832d19185c3ee00cbfd7f65ce9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode389.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ae423ce4fb34878c9c4f81d5cc8561263ee2154adbff69d20bfa02c9170d8c
+size 8196104
diff --git a/move_stapler_pad/franka_randomized_500/data/episode39.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode39.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3ae947552157c21747b8c373329c05720fe58a9f
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode39.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9aedc410d246f5fdfd7de0a1ff481e900f466b01bfa42ac42bb6f093050cae
+size 8191502
diff --git a/move_stapler_pad/franka_randomized_500/data/episode391.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode391.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6101e805c97d44c20094b556b2773d2408d579ba
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode391.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc3b7a3bd16042b02cf2a1cd9b7bd3f8041cec7e03b7f1bc2b38ff2cb3360be2
+size 9942152
diff --git a/move_stapler_pad/franka_randomized_500/data/episode393.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode393.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..47a7f70403df8beb65249e4a23ea0f7dd2371184
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode393.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd0bb5afa906d9102fcf8d12e592f921c2c504883065c8fa540c0bdc87df83f
+size 10740323
diff --git a/move_stapler_pad/franka_randomized_500/data/episode395.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode395.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b71f7f9c31767c1ae8dd071c79791f3479bde68
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode395.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76f82e0c4446b523c7ed975a33fad7a88b149bfa043af2c7ed9a0bb4a9400e9f
+size 6188162
diff --git a/move_stapler_pad/franka_randomized_500/data/episode396.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode396.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..16f99ea4f53ac60d77ff20d85e8f9c6eaaf4cf50
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode396.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921b3fd9ea644f8008610c9139b2719baed95dc784067dc0b7c4491f86399989
+size 6758717
diff --git a/move_stapler_pad/franka_randomized_500/data/episode402.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode402.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..be5cd56af8eb7c7b594e0166659b2644d73ad83c
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode402.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0441b2620b11fbbd793c498564e83dff4d86c18a659e9ee8beb1e76c10a76428
+size 6862505
diff --git a/move_stapler_pad/franka_randomized_500/data/episode404.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode404.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6c3bf6ffeff7542aa473c0539ffd4870c5dd3420
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode404.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b7d3b50b4841dfde4caed27d1d5490fe6784595a113617ee77270ef256fdf7
+size 6715844
diff --git a/move_stapler_pad/franka_randomized_500/data/episode405.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode405.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..88318ba630680d77e7477b199992f477a9c34cc4
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode405.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ad1a509c324aa3b9add41de1070ea8378c2e9f31add6a5b78ff1a1cd9721de
+size 6654196
diff --git a/move_stapler_pad/franka_randomized_500/data/episode406.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode406.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..144bba2432af77a8ee3451b765a32862613ec146
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode406.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f2e9d28d18d3eaa172d2b15e0eaf666a0b66941f9d5b8c38b693773012fdae
+size 8558817
diff --git a/move_stapler_pad/franka_randomized_500/data/episode41.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode41.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e0f9d76448f38c0bf3f36aeaf305309968f8e6eb
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode41.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d28accbd692312d90e59e56b9d18af35016878628330faf5ee8140378f24ae
+size 9835112
diff --git a/move_stapler_pad/franka_randomized_500/data/episode419.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode419.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3377218f0b7e7441222977c8577a2550ade91d43
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode419.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c7c89c899dac39838a115ad8f721c0dab5520d651a49336ba87d8cc5c3cdba7
+size 7167792
diff --git a/move_stapler_pad/franka_randomized_500/data/episode424.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode424.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72a47c43312ec7a43c7704db1347436df0cd284e
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode424.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c9b671c9f6c59a457dc194f22140e01b07cd682031ebc2e2c523a55ca03499
+size 5967552
diff --git a/move_stapler_pad/franka_randomized_500/data/episode425.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode425.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d81e7af35ba8af0f099166b80355e685e1996db5
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode425.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df7a6e22f4fcd8f62cbce5011183ea52b6ad28de9a908c8301b02051dd0977a
+size 8149452
diff --git a/move_stapler_pad/franka_randomized_500/data/episode426.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode426.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d26803a04c2ce0ee69bc849384335b68c553933d
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode426.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b27d0738cbc9bc2e898d5ad5d2adfdd163bf6f5bf9e5f8f3065e143105f7bb1
+size 6173192
diff --git a/move_stapler_pad/franka_randomized_500/data/episode428.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode428.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0aff5fe71a281c92f946e7c986426280c21c493b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode428.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0faa65ab94c766378e7b56e9b37611a25784e393b74838744a710926fafb1205
+size 9507036
diff --git a/move_stapler_pad/franka_randomized_500/data/episode43.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode43.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0960621e2f5307755e0d171c4dc2b2011dc80122
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode43.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4fb6a3801a5dbe89e553bc6311cbe9d1c9c4a33f4fb8c9e88fd587c586cc05
+size 6745852
diff --git a/move_stapler_pad/franka_randomized_500/data/episode432.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode432.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9be5803174d3da6752c9545a9a7e45593b1dc8cd
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode432.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f525c69586d2eb7dff66e6c570acc73b41b4dea3cffced41366dc7db5cbd817
+size 6705218
diff --git a/move_stapler_pad/franka_randomized_500/data/episode433.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode433.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9fc66a46b9258e502a92513041dbfea987b70522
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode433.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b5ce75ea628a380ae194786bbca2495d27def36949eb1019149dae6f764f3d
+size 8868820
diff --git a/move_stapler_pad/franka_randomized_500/data/episode442.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode442.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5e7b94180260b036e5b584ea51fde2f20e36f4b9
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode442.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8726f770b697594e4ce1bf9474f7fe94abf434d56005eeb53d9b9f915256b9b
+size 6192615
diff --git a/move_stapler_pad/franka_randomized_500/data/episode446.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode446.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4ce105809af290ffd9ece3e23d84246df1d730c7
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode446.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06c1f1daa204831c3830b8a792418170b023d24f5e6dd12c7d1b3f45209be5a
+size 7733169
diff --git a/move_stapler_pad/franka_randomized_500/data/episode447.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode447.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5474a366eb130ba34c915b12f83c088f974493ff
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode447.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ed0b3b0a314e9de3e88fedfa6af45e0df390c478445224e7416df509d25b61
+size 5454822
diff --git a/move_stapler_pad/franka_randomized_500/data/episode452.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode452.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4338f16911924b2034936502b0b47952902abc63
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode452.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520f639ec7bcde00f0a3c0d2068d11491a263b00ea637355e7d457f5a11f63fe
+size 6474152
diff --git a/move_stapler_pad/franka_randomized_500/data/episode463.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode463.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3c79a5d3da36545bda7050b36d6d21638876578a
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode463.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7440c8a9be0da9432c1e792d425ec75a5a672313e3df5c4b71178745c7ea05af
+size 8811332
diff --git a/move_stapler_pad/franka_randomized_500/data/episode464.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode464.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1443c570984d6c65e1cd6f40bdcf1aaba28059a3
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode464.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea69924271f7656e0db8d13fc3180cf8372bb85240c37cd1edff874309737d1
+size 6533242
diff --git a/move_stapler_pad/franka_randomized_500/data/episode470.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode470.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9947b81d6bbcdd80ffd24cfc36fb1e90f96f9afe
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode470.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69cba07a9d867f452689a89b02edee0607ac1a458a34f92b6ac5f020f8340db1
+size 7664583
diff --git a/move_stapler_pad/franka_randomized_500/data/episode471.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode471.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..157c686a9b5dd027f2976889bc3a39d5b542e918
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode471.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e3737b50609d6366f4b7d8706d6d0fef1003b43ad64a3852a89e89cd76eaaa
+size 6022343
diff --git a/move_stapler_pad/franka_randomized_500/data/episode477.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode477.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e1664e812eb85731998d6ae16c0367b21490169b
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode477.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df7ef538cf6498de2639c3864e0c2e6bac94180e97ad1e4798aa39e5b6bab79
+size 6038501
diff --git a/move_stapler_pad/franka_randomized_500/data/episode49.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode49.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8779dcd6d4a0e4c208b0de350055b2b7a0f7319a
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode49.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bf914028298a07a4f7b85a17c4553cc5c170c95637c3051887443cce02450a
+size 8225616
diff --git a/move_stapler_pad/franka_randomized_500/data/episode494.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode494.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d6a8aac8b6959d36a07c01e6908f88581e3170e0
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode494.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6653f4fa50bbd3c8be92058e0d25814ce8d2ae7a42e9beaade3805edcb9fb705
+size 10295320
diff --git a/move_stapler_pad/franka_randomized_500/data/episode498.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode498.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2909c850a5d44a78ce47b27772fb3bab2b232ed6
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode498.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70bcee7634771cf8ea1d9b16c2ac0ea2a788473e066f6e2076085c4f7dd2cadd
+size 8492970
diff --git a/move_stapler_pad/franka_randomized_500/data/episode5.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6163a56a80c5ffbad64ba0e06e9960c4bdec239e
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ae2bafe62a2da7a8dff1a9498f0d6e700a0e66672a69899b43185a25a1ebbe
+size 6180842
diff --git a/move_stapler_pad/franka_randomized_500/data/episode54.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode54.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1555c0fe9766129c4df95a7c48678733d37aa4fa
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode54.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1fc56814d3f00e59ba884ce9599bf63bf7d24f917f7ad8b05c1a3bd0aa8f07b
+size 9378382
diff --git a/move_stapler_pad/franka_randomized_500/data/episode55.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode55.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..af7125b23f02700b4bbbb6fa8e3a1590a8967d81
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode55.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4dac17981ba20605d17c8f756b1cb04fcf96b83c6d716ba0061e24cabc0e5bc
+size 7660052
diff --git a/move_stapler_pad/franka_randomized_500/data/episode57.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode57.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e5f5e9f770c0656cefc1ca0bd140213a16635fcf
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode57.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:048d7031261fbfb4ca1206fc3f98678234946faf7f18d95027a679a0914c3ab3
+size 6467724
diff --git a/move_stapler_pad/franka_randomized_500/data/episode59.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode59.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8f68f09eebc66b128946663025a17252d016c8b3
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode59.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb3c19e2c66bcbcd26f6421230c4ea99d9226162f408898aaf088928cafae887
+size 7293512
diff --git a/move_stapler_pad/franka_randomized_500/data/episode69.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode69.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..44ed837694d45565ae7c6c93534fd609b02e6fda
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode69.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e89aa8846d2d57242593c00dc1ec209e9ed17b752d9203e2957da198b443d1b2
+size 10380632
diff --git a/move_stapler_pad/franka_randomized_500/data/episode70.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode70.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fd9b8a95c15387b63e1ce85d0a8dfbf9488ddbe8
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode70.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c63a193e3d40216a2ded48400a275be3ce152b5505a9cd95d02612fceb9240f
+size 6359164
diff --git a/move_stapler_pad/franka_randomized_500/data/episode75.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode75.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e0ec11a139f5589fdd8d8ca49fc19456f0fc7774
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode75.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171bd3100c4a4f0a4b835c640efd5ed1c100bb30c56be0c1620d5cde864e1461
+size 5791112
diff --git a/move_stapler_pad/franka_randomized_500/data/episode76.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode76.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b91f1b5361966ebad75ba07c380c36a2e8535af4
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode76.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f9cf426f22d2767cbc5a4becfaa3826becd415eacc4d50a09eb25820ac9447
+size 8705576
diff --git a/move_stapler_pad/franka_randomized_500/data/episode78.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode78.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8ef5f144f480d96503e4f8bc628a3f171c67bd50
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode78.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06421c0b773accf837c1813cc1eb3aa21652611549d46b671b46651241233e2
+size 9266927
diff --git a/move_stapler_pad/franka_randomized_500/data/episode8.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7a37b7be9579694ae59e3a5d7dd2a7afe180dbdf
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc3c79d2597fa6f77affc6fa13ff852c2d9085f4091ffedb9136d1fe251b6d1
+size 7262888
diff --git a/move_stapler_pad/franka_randomized_500/data/episode84.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode84.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..800500e8a7970c2b5f24d8bb736e55940e4f3714
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode84.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00acc10173e85256bbdfde13af22f7e0403571c6577c93772afb083e4b30c3fe
+size 7159462
diff --git a/move_stapler_pad/franka_randomized_500/data/episode88.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode88.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8302cef8d6cbae9a1633091449e880aaf754a600
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode88.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68aa70511af2f1650f4bac793c5a36f9fa54219d783cdbff597bd39fef1fb0d5
+size 7345221
diff --git a/move_stapler_pad/franka_randomized_500/data/episode96.hdf5 b/move_stapler_pad/franka_randomized_500/data/episode96.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8b0f0af45dd044b1cc7e4d6f8348b772ccf83542
--- /dev/null
+++ b/move_stapler_pad/franka_randomized_500/data/episode96.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84f5bdd04f84205b34555d1d160069c36b735863a9508952c8b911f3e70e59d
+size 6820052