diff --git a/.gitattributes b/.gitattributes
index 0a727318e03d30ab19993e9cee83f0c0ef3a94f3..0150a16d705a938a130f9bd3b5d1f9c2ec878249 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -770,3 +770,69 @@ grasps_candidate_r3/ycb_dex_15_grasp.hdf5 filter=lfs diff=lfs merge=lfs -text
 grasps_candidate_r3/ycb_dex_17_grasp.hdf5 filter=lfs diff=lfs merge=lfs -text
 grasps_candidate_r3/ycb_dex_18_grasp.hdf5 filter=lfs diff=lfs merge=lfs -text
 grasps_candidate_r3/ycb_dex_19_grasp.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01005.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01006.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01010.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01023.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A01026.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A02014.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A02018.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A02028.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A02029.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A02032.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A15027.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A16012.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A16013.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/A16026.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C10001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C11001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C13001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C14001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C15001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C25001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C28001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C37001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C42001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C43001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C50001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C51001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C52001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/C90001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/O03002.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/O24001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/O36001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/O36002.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10002.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10003.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10005.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10009.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10010.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10012.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10014.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10016.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10017.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10018.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10020.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10021.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10022.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10023.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S10024.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S15004.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S16001.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S16002.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S16003.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S16005.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/S20022.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/Y03006.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/Y27035.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/Y29040.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/Y35037.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_01.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_03.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_04.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_05.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_09.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_13.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_14.hdf5 filter=lfs diff=lfs merge=lfs -text
+training_m5/ycb_dex_15.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/training_m5/A01001.hdf5 b/training_m5/A01001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cb46d3e21ac1aa5d6ce13fe955bc6884fd51f94e
--- /dev/null
+++ b/training_m5/A01001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e529a904b48e62306349315e3773d8f968be7bf8e1cc7ddb3d702f39cceead
+size 129408
diff --git a/training_m5/A01005.hdf5 b/training_m5/A01005.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ff21e9e6c31fa4c23a520bbcfafb91f3bbae651f
--- /dev/null
+++ b/training_m5/A01005.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15a123ab3a38bed094bb4ed7268b528641c200a20c1e5176a1e46b49cd642b5
+size 128171
diff --git a/training_m5/A01006.hdf5 b/training_m5/A01006.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..38e9ac55b1eb9a34f5d2e55c89c793368af1f3a7
--- /dev/null
+++ b/training_m5/A01006.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbcd41c269b889ddb5508289d985bb4750ff5f11a41f9074d3a42d0119af211
+size 129529
diff --git a/training_m5/A01010.hdf5 b/training_m5/A01010.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3ef710563a6813f02aa3dc127f7be2a90e6ef805
--- /dev/null
+++ b/training_m5/A01010.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081d25babab79edabafe6ff8c93f80ef6c2fb6084d01266380fc03132d16b474
+size 127724
diff --git a/training_m5/A01023.hdf5 b/training_m5/A01023.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..70aaf4291fc4c68da87431eb65ec6a80ee2181df
--- /dev/null
+++ b/training_m5/A01023.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66415e99b1e1810670e3a9e244eff29ffbd9b9ab17e8ef0067bba8dbdff0e5e
+size 128122
diff --git a/training_m5/A01026.hdf5 b/training_m5/A01026.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab0b77acf8f26517ee8268232fd27e0f16a55cb9
--- /dev/null
+++ b/training_m5/A01026.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa766280ed6974d857b9577f33c692f59bb4b6623adf380032c6fff07e227a14
+size 127804
diff --git a/training_m5/A02014.hdf5 b/training_m5/A02014.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7bd4a03130892ce571c92abbafd906bb955777ea
--- /dev/null
+++ b/training_m5/A02014.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6161552dad6d2be6bb64651a564b679b53a79597fe3909aa8587521f1933a74
+size 127021
diff --git a/training_m5/A02018.hdf5 b/training_m5/A02018.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8dab3651e3a2968254e797db738533de6aa02f96
--- /dev/null
+++ b/training_m5/A02018.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e1d949472bd1dab515e02b9fa22342af199ccfb1dee44d1663098670e657eb
+size 129819
diff --git a/training_m5/A02028.hdf5 b/training_m5/A02028.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e0d4781f3fd7dbbdad2fcb079b05d7813b3e2821
--- /dev/null
+++ b/training_m5/A02028.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6634f36f6fe53d6924cfd401b0d2802f1f34efdc3a0e5604d05da6895893b8
+size 129734
diff --git a/training_m5/A02029.hdf5 b/training_m5/A02029.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..476aee4ccb50b28b8d873b9678c9dd26d6f4259c
--- /dev/null
+++ b/training_m5/A02029.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8096984be8d1c28587cc53dad27f56d0b6fe981b08488e903d8b5daf92f6a3b4
+size 128814
diff --git a/training_m5/A02032.hdf5 b/training_m5/A02032.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6c17bfa48ab91f79e1d51ffcdd3ba64b3fb29e4c
--- /dev/null
+++ b/training_m5/A02032.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b92179fa3b010d2f2277d7d5f43d87beef53210b2297bb12da82b7aa2ca05fad
+size 126584
diff --git a/training_m5/A15027.hdf5 b/training_m5/A15027.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..432311f0f2bf5c9a57b9eee5398fb4328f7d351f
--- /dev/null
+++ b/training_m5/A15027.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f08f126ff9e603c52a279de8b8be6642a8c98f7bda16d6e6f036fb64abb1ee7
+size 129224
diff --git a/training_m5/A16012.hdf5 b/training_m5/A16012.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..992ea9227876b474999bdd897e9057c887eba6ae
--- /dev/null
+++ b/training_m5/A16012.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b92d46c4ae1d4e4f89bff8bbe0b039db4ca15fbff33fc82ac59e66b1a21fde17
+size 128744
diff --git a/training_m5/A16013.hdf5 b/training_m5/A16013.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..62732199b6ce05350f97f01dad8a32379605680d
--- /dev/null
+++ b/training_m5/A16013.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8974d29dc6590e27ccf0de3902d7b61b2b2c49d9cdcad437cad3a6f0e597bd0
+size 127770
diff --git a/training_m5/A16026.hdf5 b/training_m5/A16026.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..73a91f33ad9eb9cb9ce5170de09b0e28fb04fdef
--- /dev/null
+++ b/training_m5/A16026.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d6e1cff541f404839d385dd1643bf3a82428670e9ca2b731d9ce361a56001b
+size 129387
diff --git a/training_m5/C10001.hdf5 b/training_m5/C10001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..62d9c058e0f0db4ad4b1e6718bb259996101b6ee
--- /dev/null
+++ b/training_m5/C10001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd18cbebba65d6d64e27044e61d5227fa9646fde86ffe4498a55f601bf4dc635
+size 129441
diff --git a/training_m5/C11001.hdf5 b/training_m5/C11001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5f63fdadf50cf90732623f82b9d5e6c6c41c7373
--- /dev/null
+++ b/training_m5/C11001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7240fce7f399ad1762d75154ec7935b0b71cf81fe8b6048b2ec599272b4081a2
+size 127783
diff --git a/training_m5/C13001.hdf5 b/training_m5/C13001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..87cf34bd31dee668ac5e50b4bee3962baed8673c
--- /dev/null
+++ b/training_m5/C13001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fb58565c1ef68f3390fe791474b631caa414a3b27c9e6a864614cec175d020
+size 129749
diff --git a/training_m5/C14001.hdf5 b/training_m5/C14001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2b4c6bc72a312be8f51eda968388d8cf0f9c2953
--- /dev/null
+++ b/training_m5/C14001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1303968d56f2235d3c78c1f805e9333d7de224c5a21454e7d322974b85c9b8f3
+size 127908
diff --git a/training_m5/C15001.hdf5 b/training_m5/C15001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9800799a72fdae1f8306f7c5229fc74831dd8867
--- /dev/null
+++ b/training_m5/C15001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74aa8591b8a19aa705b55e483f43d327327a7927df209b5f85569db3ca459cef
+size 129555
diff --git a/training_m5/C25001.hdf5 b/training_m5/C25001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..77e0912e84aebdc6860d44404a0c8ddbff36be3e
--- /dev/null
+++ b/training_m5/C25001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63defcb1642017e79e27ddb344dd2fa6223da24133ec6975c59556b91b5f7b7d
+size 129289
diff --git a/training_m5/C28001.hdf5 b/training_m5/C28001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bd93d2d41a9463c3b2aad54930ee64fab55605f5
--- /dev/null
+++ b/training_m5/C28001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65dd05712c9092907ec566226c88f35c19693c8848cfd856536466abcc364b71
+size 129239
diff --git a/training_m5/C37001.hdf5 b/training_m5/C37001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0c14d657a0089eef5148572b3263b6adeef979d4
--- /dev/null
+++ b/training_m5/C37001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668c0b6968263ede6e3c00ae01a88de2aea361e20fff3a431e08a04b86f60866
+size 128704
diff --git a/training_m5/C42001.hdf5 b/training_m5/C42001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6772743e67eef40a70ba5425ea32b8f76a6bd521
--- /dev/null
+++ b/training_m5/C42001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b779aece1b4f1fcd0a4cce555e45bc17fe00544778ab3855bee048722b2a666
+size 129623
diff --git a/training_m5/C43001.hdf5 b/training_m5/C43001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..26b0e62ba3841366197c1ec6a3f212abe6cdb248
--- /dev/null
+++ b/training_m5/C43001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36b9ac3b634c083ab47703e2984d68ca87816fcec0074cda85bc6eedff30d8d9
+size 129769
diff --git a/training_m5/C50001.hdf5 b/training_m5/C50001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0f478379f7af58ba76db4415351ce7284f914ab6
--- /dev/null
+++ b/training_m5/C50001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a86c424c8e1c4c3d31bab17e8ee4b6dcde9a784451696df130e99a8d8ff7ac9
+size 126906
diff --git a/training_m5/C51001.hdf5 b/training_m5/C51001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..66e75098e5ae92beb751d924b17c7173f85964fe
--- /dev/null
+++ b/training_m5/C51001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbfc3ee8bf15932af8446700f55582a6765667bf1767b18a5f09c0c963519cb4
+size 129530
diff --git a/training_m5/C52001.hdf5 b/training_m5/C52001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..24380ec678f1bbb27a6f16c366ede2d828b71762
--- /dev/null
+++ b/training_m5/C52001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd4f3523743bd399aefef65eabb4232b9b8a6448701c5688c63eac9707b2889
+size 127911
diff --git a/training_m5/C90001.hdf5 b/training_m5/C90001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9c48082957a9db4af1e30f311baf739db37e895d
--- /dev/null
+++ b/training_m5/C90001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f62edf5543173db97ca2ae1c2952cec7a2d8d8925562dced53a40142aba351b
+size 128772
diff --git a/training_m5/O03002.hdf5 b/training_m5/O03002.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..872328d7a77d260d47bee9435ce89d082a6084c6
--- /dev/null
+++ b/training_m5/O03002.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:755a4256f506fe489db4f90f799c4d0e778470e4f267ca2c3987f2ced483a7cc
+size 128883
diff --git a/training_m5/O24001.hdf5 b/training_m5/O24001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..452b312ba31d28b58c771fefa9ce64f48ab0435e
--- /dev/null
+++ b/training_m5/O24001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e88746c957c573665d63519f948647b17c9d6558ec99c8c68cb73f7261ab43
+size 129136
diff --git a/training_m5/O36001.hdf5 b/training_m5/O36001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45538402768ddc080eaa2368f784068a90f9334d
--- /dev/null
+++ b/training_m5/O36001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:372d020ede58fd087eac143b9bbf90b3083e217399b551a3958efd5277607125
+size 129793
diff --git a/training_m5/O36002.hdf5 b/training_m5/O36002.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0add0037f12735d6145cb50bab39b4e842c40797
--- /dev/null
+++ b/training_m5/O36002.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5dc4f533b90ee48875f71b9b4bfa75358969fa15754f356e7f0fe3910b7b28
+size 129820
diff --git a/training_m5/S10002.hdf5 b/training_m5/S10002.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..19228f306ad71b13429c104664dff1be61d4f2b6
--- /dev/null
+++ b/training_m5/S10002.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3641166717d27de57ca88365bf62685142a97f8e3a7cf216ece1c5a53428a0d
+size 128147
diff --git a/training_m5/S10003.hdf5 b/training_m5/S10003.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..822b6215a50782f68252e9ef6a3a2325f747e629
--- /dev/null
+++ b/training_m5/S10003.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50ce270085bd572954bc2b6e8683260cb76ace83ef9b484213b5b0f2210ca23b
+size 128736
diff --git a/training_m5/S10005.hdf5 b/training_m5/S10005.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..69faf4e763897f2771c79b756165658ee07d9ede
--- /dev/null
+++ b/training_m5/S10005.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4a3156b40ea7e58c99ceed51c33f8ddb6d82f22f49b5059c663a91ad557dc6
+size 128446
diff --git a/training_m5/S10009.hdf5 b/training_m5/S10009.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ded39adc72aeddfb810e03f4be5e750288bc96f4
--- /dev/null
+++ b/training_m5/S10009.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0727ca251d0a8029c47ebb5b0be98564238edfc5aaff4fc13027b40d78368f6
+size 128721
diff --git a/training_m5/S10010.hdf5 b/training_m5/S10010.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..741105551d331a11f01ec2284ce68248320a3217
--- /dev/null
+++ b/training_m5/S10010.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15618200198913cc602068f61963083a01cea04c1657da244b588fa90c3492e8
+size 128411
diff --git a/training_m5/S10012.hdf5 b/training_m5/S10012.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cc754e473e06c6aecde4959bfcb8b1f119922d81
--- /dev/null
+++ b/training_m5/S10012.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0791af981f59a51334331360b7e7e46df7459747e1f27cb6677f0c37d53a869c
+size 129580
diff --git a/training_m5/S10014.hdf5 b/training_m5/S10014.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ad01da5cea5ec1d6b3fe52ad0720079c2838c205
--- /dev/null
+++ b/training_m5/S10014.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6a1a4f98527a122bccaba29c811a4285a2d4d5ec859b079df40948d919286c
+size 127965
diff --git a/training_m5/S10016.hdf5 b/training_m5/S10016.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ad3b348c1f4890cc3c81f5aa0a6d7578c0c3c816
--- /dev/null
+++ b/training_m5/S10016.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65abae93f1d78d188f84d9d147678f26649055a7b54dda197b823478778d6d77
+size 128367
diff --git a/training_m5/S10017.hdf5 b/training_m5/S10017.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72569c5912b09404c529105ae32fb59478e1e0d1
--- /dev/null
+++ b/training_m5/S10017.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14bdbb39442f50065b15960f015f30ba5abbe93d92286753f3deada94c7bfac4
+size 128017
diff --git a/training_m5/S10018.hdf5 b/training_m5/S10018.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..80e229bdb9a8d1fac65f8dfe826efc4097495ac2
--- /dev/null
+++ b/training_m5/S10018.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31573f2537ceb04ade0c4db3bcbd54e493f7efb182f2efc0cadd60bf43e4189d
+size 127909
diff --git a/training_m5/S10020.hdf5 b/training_m5/S10020.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4b842ea7f1c2df7685de909ff071bc38edf9db2b
--- /dev/null
+++ b/training_m5/S10020.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e9519a450ce08150b8dfde5a9571be5adf43574879194e9e46f965dde90144
+size 128701
diff --git a/training_m5/S10021.hdf5 b/training_m5/S10021.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72498517653f72f51f14fc4aa88dc94c000576ab
--- /dev/null
+++ b/training_m5/S10021.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55560b469bc1c0a1508de568fcd711f2369611d77624c1f142c09b1dd27ffe8
+size 128140
diff --git a/training_m5/S10022.hdf5 b/training_m5/S10022.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..91deaa845a26ac7833210e906257ae9e06c21141
--- /dev/null
+++ b/training_m5/S10022.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec2de89e37b2329b7e72490a7df06b5d6aa11ec21ae5b1853b6421acb02026a
+size 128251
diff --git a/training_m5/S10023.hdf5 b/training_m5/S10023.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dbd9e20efeda0adaf9aad608382e833b2f2ffa31
--- /dev/null
+++ b/training_m5/S10023.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ad46bbdc13ee46b9491ae3fcfa13feaeeb7d873742303153fe7313df2babaec
+size 127985
diff --git a/training_m5/S10024.hdf5 b/training_m5/S10024.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6ae4b5925a5eb7944d1db4f9a3d7ca3ce5131c6a
--- /dev/null
+++ b/training_m5/S10024.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:936a2fb117725e5c3d86fb42a66c31e5d6c61f2cda39301d0b2913f53aa8f54f
+size 128920
diff --git a/training_m5/S15004.hdf5 b/training_m5/S15004.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1183a7a565107407a0b8fdde698a99cda1c41974
--- /dev/null
+++ b/training_m5/S15004.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae257d7fe34a4bbc9e8e9472123f65dd240bd3ecbfaf193897d2d6fb63ef2697
+size 128833
diff --git a/training_m5/S16001.hdf5 b/training_m5/S16001.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0171b2778428deb8299f056a124b8093d845c
--- /dev/null
+++ b/training_m5/S16001.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcfb120e9aab99275552968b920bfd219ed90c6e1e2dfb0a5420fbec0f22509
+size 128275
diff --git a/training_m5/S16002.hdf5 b/training_m5/S16002.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0cb787c52db1db1d0c631ca7e28feaf9fcdf8a15
--- /dev/null
+++ b/training_m5/S16002.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2cdb9b895abf68bd1b4c2b5e7b5096bf6e400fae2c7cd11c4cf1e76756043e2
+size 129231
diff --git a/training_m5/S16003.hdf5 b/training_m5/S16003.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4b83c139826d0e8969fa776d2b6a97a21fd8fe53
--- /dev/null
+++ b/training_m5/S16003.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7863b5fe72e6a3a80578a7d8128a736231625662771f72c95b8d6abd2f10d3e
+size 127590
diff --git a/training_m5/S16005.hdf5 b/training_m5/S16005.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fde4147dc7079c692e6f4e2e4eff5aa6bbc3ccc1
--- /dev/null
+++ b/training_m5/S16005.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0063dae2eb505b0036d65bb031b27623fb1765917e928d670cef927b295b328e
+size 128991
diff --git a/training_m5/S20022.hdf5 b/training_m5/S20022.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..106943b5a1ec7e34cbb31f04d845dcb4838039e7
--- /dev/null
+++ b/training_m5/S20022.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e530653451583564bb43ab0696298dc1e605de310f689b2c3dd6b7a989c726d
+size 128890
diff --git a/training_m5/Y03006.hdf5 b/training_m5/Y03006.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..748d3f258633d0a77a8803fdeea9331723c14e35
--- /dev/null
+++ b/training_m5/Y03006.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ede70ff14305f4edc982390259df22fc0352314b51830f78e62448919387f68
+size 129284
diff --git a/training_m5/Y27035.hdf5 b/training_m5/Y27035.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..948e78ebf23963921862616c9dbc912a7ea03dcf
--- /dev/null
+++ b/training_m5/Y27035.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229908de20b97ccd315751027f9e365100de4eac7d1b2615749a080b37d336c1
+size 129650
diff --git a/training_m5/Y29040.hdf5 b/training_m5/Y29040.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f8843f02ffa35c5e225876fc6076977a5bf3cc79
--- /dev/null
+++ b/training_m5/Y29040.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa77bc56a7a07a9d2ba65d09c10f1ff075a94b37eba0186ddca14998c3e47618
+size 128947
diff --git a/training_m5/Y35037.hdf5 b/training_m5/Y35037.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d24fde95f49204bab97519ec8f5fd0e89fb4fb0a
--- /dev/null
+++ b/training_m5/Y35037.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1fc0c49a4b28e3abe42c2eeafc60eab2a593ef5e766891b212611abad61f8f5
+size 129651
diff --git a/training_m5/ycb_dex_01.hdf5 b/training_m5/ycb_dex_01.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..128a7451298455f31a4e1b01f13a748e1a749402
--- /dev/null
+++ b/training_m5/ycb_dex_01.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10aa9f7d1d7c729def7952280d85a65cc0075bb4d003e3118a4c18d4eec9f677
+size 125125
diff --git a/training_m5/ycb_dex_03.hdf5 b/training_m5/ycb_dex_03.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..df56ca482eeebe9f511bc6cb9744cbe468906f56
--- /dev/null
+++ b/training_m5/ycb_dex_03.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9cfaa8d18919e3c0524451f36f749e62d7cc998c2f425cfef84f77e58f0a39
+size 128358
diff --git a/training_m5/ycb_dex_04.hdf5 b/training_m5/ycb_dex_04.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5a36a054e71c25449bde749ea4febaebf4aa237d
--- /dev/null
+++ b/training_m5/ycb_dex_04.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f25721b014e4c22ff3e68d3d4a0d9129dff7b04ad532f5805a5eaa47eb6da7
+size 126267
diff --git a/training_m5/ycb_dex_05.hdf5 b/training_m5/ycb_dex_05.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8d854cddf2f55b80df5a4ad1b2fadc637d595239
--- /dev/null
+++ b/training_m5/ycb_dex_05.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17cc1747a4d8e1db607dcbefebbd4fe8347a195e8f22c7987715e5b905851d97
+size 129074
diff --git a/training_m5/ycb_dex_09.hdf5 b/training_m5/ycb_dex_09.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..be58c3fab338817f8647dc62945100d9250ea2a4
--- /dev/null
+++ b/training_m5/ycb_dex_09.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930d648e4ead991be6f29c9384359ec87df523a0830d997562f115aa05d56cdd
+size 128737
diff --git a/training_m5/ycb_dex_13.hdf5 b/training_m5/ycb_dex_13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..18a7a6e8fb27e7af9560832c9d993e98b8e53ce3
--- /dev/null
+++ b/training_m5/ycb_dex_13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253eac1b2e72aec2487a015758e40bcb428c23973d47b477b85a115a8072fcda
+size 128840
diff --git a/training_m5/ycb_dex_14.hdf5 b/training_m5/ycb_dex_14.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab322531cf1295b3cf22bc16bac8c6c9e238edb4
--- /dev/null
+++ b/training_m5/ycb_dex_14.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b260e83b842e10d7b13472996e458603954d0b6598d21c2e20a42f08fde6835f
+size 129663
diff --git a/training_m5/ycb_dex_15.hdf5 b/training_m5/ycb_dex_15.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b9d40da8421b4b830337c2e7fe1e3e1250c85491
--- /dev/null
+++ b/training_m5/ycb_dex_15.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87bf4a529a73869573f952ba098ef6887a4603e0cedc6e9eef411799c29c3ffa
+size 129634