diff --git a/pick_place_block_test/demo_000001.pickle b/pick_place_block_test/demo_000001.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..d6c301ddda8a1ea1ceb8775d2fa5397fa16c533c
--- /dev/null
+++ b/pick_place_block_test/demo_000001.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e597d454d3a30de288672e24bd59f378de2361dd51ead2ac41d5b6d4de125c4
+size 28848966
diff --git a/pick_place_block_test/demo_000002.pickle b/pick_place_block_test/demo_000002.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..3ca6c7126494397ec46b53a2b93b0663eb5b89b6
--- /dev/null
+++ b/pick_place_block_test/demo_000002.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5669016d107eabeab85d132c2c0b1c5c6b82f7393b1a9263b1b7a27a3e1e5673
+size 28848966
diff --git a/pick_place_block_test/demo_000003.pickle b/pick_place_block_test/demo_000003.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..d8fbd6bee6a7d11371a52d302031c575b580c33c
--- /dev/null
+++ b/pick_place_block_test/demo_000003.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7159c22e68afe16d3ea42e7df3263c2f259d51fc0b63a724b0b500bdbcb73745
+size 28848966
diff --git a/pick_place_block_test/demo_000004.pickle b/pick_place_block_test/demo_000004.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..a3619cde5fa29828e2733911fbb7ce9bf55c4230
--- /dev/null
+++ b/pick_place_block_test/demo_000004.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56faceff714cb6fc44aad7c7dc72c5de37a4a22380375fa86f2ebb5eda45068
+size 28848966
diff --git a/pick_place_block_test/demo_000005.pickle b/pick_place_block_test/demo_000005.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..f0b513285700f13a05ed8b36596aa2405132239e
--- /dev/null
+++ b/pick_place_block_test/demo_000005.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2316a3870d40784f7a4d30841d1d64ef18a3957f7519f7a97c98e804ba24daac
+size 28848966
diff --git a/pick_place_block_test/demo_000006.pickle b/pick_place_block_test/demo_000006.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..dc565837f5dbb7c39998cbee42e339f356864209
--- /dev/null
+++ b/pick_place_block_test/demo_000006.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dfee18955a6d126db0626f606a340a656e6c06284019d3ca98131f23b1db5f9
+size 28848966
diff --git a/pick_place_block_test/demo_000007.pickle b/pick_place_block_test/demo_000007.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..0da585ce10fcd149659cf548294b191fce72cd59
--- /dev/null
+++ b/pick_place_block_test/demo_000007.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b23d12aaabbabdd6a492d10f4ea899ca4d79d21178d5a4c9c35a869488f051
+size 28848966
diff --git a/pick_place_block_test/demo_000008.pickle b/pick_place_block_test/demo_000008.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..668995bad859f27dd183309fa52ce26f9b740da0
--- /dev/null
+++ b/pick_place_block_test/demo_000008.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7db92d0523b8dff91d141b9942c56ce0a6a4a2ea8c9321cb3c050a595d76dc
+size 28848966
diff --git a/pick_place_block_test/demo_000009.pickle b/pick_place_block_test/demo_000009.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..d6ab65e312b2dd0fc96b5c8a2bda61c68ff2694c
--- /dev/null
+++ b/pick_place_block_test/demo_000009.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917f8faf0bb27f411cc91ec659dc6a4941171eb01d2d7403e76995a158f3542c
+size 28848966
diff --git a/pick_place_block_test/demo_000010.pickle b/pick_place_block_test/demo_000010.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..937e8d05406564b65cdf4f0ecf7e78c2c68b3193
--- /dev/null
+++ b/pick_place_block_test/demo_000010.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee8369cf18d784bed12a2cd718558aed4031ba3286c0312d16f2a6ce2c4ffd1
+size 28848966
diff --git a/pick_place_block_test/demo_000011.pickle b/pick_place_block_test/demo_000011.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..f98e74ad0876b80a028192059f0dbab04cb67fc0
--- /dev/null
+++ b/pick_place_block_test/demo_000011.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7042ee60fd3ea83aef1deb9e41fee947c7ca13d1b414607c3a10117d450ea0a
+size 28848966
diff --git a/pick_place_block_test/demo_000012.pickle b/pick_place_block_test/demo_000012.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..689854e68b14d561f5d3da58f1f00b46403130a1
--- /dev/null
+++ b/pick_place_block_test/demo_000012.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac323c5a80efbade7166070549c9a774a671d3ba326ef19fd40819e51f24a6bc
+size 28848966
diff --git a/pick_place_block_test/demo_000013.pickle b/pick_place_block_test/demo_000013.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..fb56c5b55c6cd1de3f5cbb6256ecf248917f3e40
--- /dev/null
+++ b/pick_place_block_test/demo_000013.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d711b44bdf7dec764847586e746e42752af0f6dba740c994253be043c74c457b
+size 28848966
diff --git a/pick_place_block_test/demo_000014.pickle b/pick_place_block_test/demo_000014.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..e567f29aabbff116ef4653ba4455a56cef48c15c
--- /dev/null
+++ b/pick_place_block_test/demo_000014.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34aaf8ebe15d9316e1a05ebc0b3112de2023d51859b6dc75627b433386bf04e8
+size 28848966
diff --git a/pick_place_block_test/demo_000015.pickle b/pick_place_block_test/demo_000015.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..9429a3028e6bd5e4a27efae35a03ae0923518e35
--- /dev/null
+++ b/pick_place_block_test/demo_000015.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d17973cff2a4dd154afc52e8bf648ff77eb6fe925a1798fc3179bfe59c252b9
+size 28848966
diff --git a/pick_place_block_test/demo_000016.pickle b/pick_place_block_test/demo_000016.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..cb6047eecefaacfc9e02be46c184acd6cb8f7d9c
--- /dev/null
+++ b/pick_place_block_test/demo_000016.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6b88d8bf0711b414cdca5c331f7eccecf13dc97f7752011fd61fd52a985e33
+size 28848966
diff --git a/pick_place_block_test/demo_000017.pickle b/pick_place_block_test/demo_000017.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..49bc4dc8f713a7240f1d76733caba322ffdbc8da
--- /dev/null
+++ b/pick_place_block_test/demo_000017.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8169c856e3621e514d149b6477d34683b5ab84ee56cc7451e8d1c352b16cec
+size 28848966
diff --git a/pick_place_block_test/demo_000018.pickle b/pick_place_block_test/demo_000018.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..e8753eaaf862e22a8c0b44c3939efeb8a84666b1
--- /dev/null
+++ b/pick_place_block_test/demo_000018.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7a8fe2290903d21fd4bfe729ce1e1f9d1d2d18378bccfae704cd15cdd0c64d
+size 28848966
diff --git a/pick_place_block_test/demo_000019.pickle b/pick_place_block_test/demo_000019.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..7bace063f948a5119bf9c0e0c1897f41ec93b103
--- /dev/null
+++ b/pick_place_block_test/demo_000019.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4084bcd0165de7fc366f951dc71128edc8dc169e88bd60e7cc5b501904c34bbd
+size 28848966
diff --git a/pick_place_block_test/demo_000020.pickle b/pick_place_block_test/demo_000020.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..1a1a51c53b9ca2aee37b4d9fcb4b336321b0b6c8
--- /dev/null
+++ b/pick_place_block_test/demo_000020.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e7fb66fbc6847ff31ad1bf42f7fc18747b8ec2d7d75cb895b16299c3a3454c
+size 28848966
diff --git a/pick_place_block_test/demo_000021.pickle b/pick_place_block_test/demo_000021.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..4c7da972fcc93d7170314d857ee3212d4b65da86
--- /dev/null
+++ b/pick_place_block_test/demo_000021.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be090343fc860eae43cf7063fffd8529075179a9d52c0e11e609bec23feda649
+size 28848966
diff --git a/pick_place_block_test/demo_000022.pickle b/pick_place_block_test/demo_000022.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..db15c713f040cf489074495a102f424fde2975bd
--- /dev/null
+++ b/pick_place_block_test/demo_000022.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5faaaff2220d9e5e14d58d05317a144d0eee4d74f63778e0000adaf7b2cc07ec
+size 28848966
diff --git a/pick_place_block_test/demo_000023.pickle b/pick_place_block_test/demo_000023.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..53d5de2afd582be23a6b6d1bf2719ccadda1d070
--- /dev/null
+++ b/pick_place_block_test/demo_000023.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:678d8cd39532464f45f844b505e7f335b8e1de667197964c0c2b981d26c6a517
+size 28848966
diff --git a/pick_place_block_test/demo_000024.pickle b/pick_place_block_test/demo_000024.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..2411a67382b86cb372bae40eb814270aa4b6bfef
--- /dev/null
+++ b/pick_place_block_test/demo_000024.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8d5f56c811d21f9cef40b363f297cb404fbbfe4b34752a4adb8e3d75e2917e
+size 28848966
diff --git a/pick_place_block_test/demo_000025.pickle b/pick_place_block_test/demo_000025.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..0ad639032a8b77bc396b564de047482c320c091a
--- /dev/null
+++ b/pick_place_block_test/demo_000025.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4137fe6f19cd414e9115d4bbcbb44a882d655b7686fe3011b7eac2c08488cc7
+size 28848966
diff --git a/pick_place_block_test/demo_000026.pickle b/pick_place_block_test/demo_000026.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..640b600a139d47bc4f6e0a46e6afb47cc9d854e1
--- /dev/null
+++ b/pick_place_block_test/demo_000026.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ffdc615cb86a95ccc19fb00a43b7e0305d7b41944d0f8308ae956c154e9773d
+size 28848966
diff --git a/pick_place_block_test/demo_000027.pickle b/pick_place_block_test/demo_000027.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..ae886cfb9c23c418d072399545be9647a7d92d60
--- /dev/null
+++ b/pick_place_block_test/demo_000027.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e84057fdb6d3c9d27fd2c15590acf975beeff1a4d9ace67b2405bfd9e0e041
+size 28848966
diff --git a/pick_place_block_test/demo_000028.pickle b/pick_place_block_test/demo_000028.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..fd35b1c0e5d07e212486a93c09b1d8c41e50f1af
--- /dev/null
+++ b/pick_place_block_test/demo_000028.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4b6f36051f4ce9c4109e66ca2dae3b04c4ad1a3d340de909f6ba3e7ed687fe
+size 28848966
diff --git a/pick_place_block_test/demo_000029.pickle b/pick_place_block_test/demo_000029.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..3fd7581559c619af0e9b82fa485a20255f0991d7
--- /dev/null
+++ b/pick_place_block_test/demo_000029.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a2fc80df79c45724f4abb801c91aa2bd0ac299410af9182b3b457d2229f08cf
+size 28848966
diff --git a/pick_place_block_test/demo_000030.pickle b/pick_place_block_test/demo_000030.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..395e87b187233116b0cf28950ca594787a536be1
--- /dev/null
+++ b/pick_place_block_test/demo_000030.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1021fac59bc4106a28e39729f78c834e7d9b7baf974a787e4c74533c9319df3f
+size 28848966
diff --git a/pick_place_block_test/demo_000031.pickle b/pick_place_block_test/demo_000031.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..1e09338a8f47046bba6108c45ec252ab77c98943
--- /dev/null
+++ b/pick_place_block_test/demo_000031.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7c9ac2ddb793a5d2af2f2b3cd937c32f532c2685ab0e75e14741e6a6a20d29
+size 28848966
diff --git a/pick_place_block_test/demo_000032.pickle b/pick_place_block_test/demo_000032.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..9181c744ebd6b8f66da75f53a3604623305f67bf
--- /dev/null
+++ b/pick_place_block_test/demo_000032.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fed5c6780f34c64b872cf8a3d5d501a769d622ac8d271caa50162bca4a23a18
+size 28848966
diff --git a/pick_place_block_test/demo_000033.pickle b/pick_place_block_test/demo_000033.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..082707e75aced0a0ff4a787dd3d0bd15b44a384c
--- /dev/null
+++ b/pick_place_block_test/demo_000033.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9d0982951064025168f1d1c5cf18044441b578a963e2c6cc05368010d96cfb5
+size 28848966
diff --git a/pick_place_block_test/demo_000034.pickle b/pick_place_block_test/demo_000034.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..bfd2c211a7a567eb3f9a18639d3a03af2a4230c9
--- /dev/null
+++ b/pick_place_block_test/demo_000034.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:528a03f43c8dba4a1161e5e39bb5f8911d9d140e20d87569f3a1ba75c801c498
+size 28848966
diff --git a/pick_place_block_test/demo_000035.pickle b/pick_place_block_test/demo_000035.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..5bc9cee2a754dbf6abdff1d56b992939956329ee
--- /dev/null
+++ b/pick_place_block_test/demo_000035.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f858b444bf34a8829267eb70286124cca2d3bedf3564c0358ab862794a4101
+size 28848966
diff --git a/pick_place_block_test/demo_000036.pickle b/pick_place_block_test/demo_000036.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..89a43140f78860a53dfc4942782a7d69d3b9bdb8
--- /dev/null
+++ b/pick_place_block_test/demo_000036.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb25bfbb5774d9de15bc479dca309f4aca7f13f4df40474ed0ddafc8bf48d84b
+size 28848966
diff --git a/pick_place_block_test/demo_000037.pickle b/pick_place_block_test/demo_000037.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..838ce87f7dc740b5be19cabe41aa59f02eccfc2c
--- /dev/null
+++ b/pick_place_block_test/demo_000037.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4ac336890fb640cdde9c95768cbbe55adfa731ae6a4299f67d7430e4044353
+size 28848966
diff --git a/pick_place_block_test/demo_000038.pickle b/pick_place_block_test/demo_000038.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..64ba81644ef7a3c9086c5b6f71fe0383fb483af4
--- /dev/null
+++ b/pick_place_block_test/demo_000038.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4883259e2b96654b2c7d7b37544b0360dda94529b25a7c31d3ce7dbabf2df4bc
+size 28848966
diff --git a/pick_place_block_test/demo_000039.pickle b/pick_place_block_test/demo_000039.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b822ff228a4f393f1e709272b7521f6f80d86
--- /dev/null
+++ b/pick_place_block_test/demo_000039.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4b85c98c542affbbe03cede0ab7a1cc1226da427bc7c778a11326e2cbe86c03
+size 28848966
diff --git a/pick_place_block_test/demo_000040.pickle b/pick_place_block_test/demo_000040.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..8076933d404b1c1d4371c60fb2e2490a94ca7b20
--- /dev/null
+++ b/pick_place_block_test/demo_000040.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f834dcf482f8f180d55a054e2e8b24fc2bafb50d36efad37c0ef0c5127638d3
+size 28848966
diff --git a/pick_place_block_test/demo_000041.pickle b/pick_place_block_test/demo_000041.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..2cfc49411d506eb0bb1eb10194b0c6eb774ec64a
--- /dev/null
+++ b/pick_place_block_test/demo_000041.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec8f1727d275705a619909de79d010e83463e5087317a18aaa022e173424833
+size 28848966
diff --git a/pick_place_block_test/demo_000042.pickle b/pick_place_block_test/demo_000042.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..3224c850233bdbcc9edd4222634b67219f02d53e
--- /dev/null
+++ b/pick_place_block_test/demo_000042.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bcaaa1acad384ca78a215e5d0facde7549cd5a2b47afdca4c1063aae5f59683
+size 28848966
diff --git a/pick_place_block_test/demo_000043.pickle b/pick_place_block_test/demo_000043.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..87362d4ed27bf38e3cd0a3c79531997783c7deb6
--- /dev/null
+++ b/pick_place_block_test/demo_000043.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd6e254e97be8f0298b19f159598a0d3d04513cf9e3e766212b10bb11a2a411
+size 28848966
diff --git a/pick_place_block_test/demo_000044.pickle b/pick_place_block_test/demo_000044.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..9e14d18a5ce6d8fb9f5f9e2517b0a89dfc0cb5e6
--- /dev/null
+++ b/pick_place_block_test/demo_000044.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc4324565be9d69fac06c2b62a3b4bb8e5d874e8f5945d19489a4d5d15ed374
+size 28848966
diff --git a/pick_place_block_test/demo_000045.pickle b/pick_place_block_test/demo_000045.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..79dd1fe504b870ba78ba9a8e465b71c21caebaa9
--- /dev/null
+++ b/pick_place_block_test/demo_000045.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d6cf1b79aa5f60f82590af6df8e4c16e913a293ad5a65729f21787b966b0c9
+size 28848966
diff --git a/pick_place_block_test/demo_000046.pickle b/pick_place_block_test/demo_000046.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..b482db90831742fed48de452eb88d4f3565fd743
--- /dev/null
+++ b/pick_place_block_test/demo_000046.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8aa6f93b486560287c6957099220a2434e160e42b8f3ecab593bc2bf5866c4
+size 28848966
diff --git a/pick_place_block_test/demo_000047.pickle b/pick_place_block_test/demo_000047.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..46e69e3356e7494653ec9bd1543272735946fae3
--- /dev/null
+++ b/pick_place_block_test/demo_000047.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4c83ba2d1b96bedbf56d4baff6f2371739648dea3b09ea13d8a1e58ea592a6a
+size 28848966
diff --git a/pick_place_block_test/demo_000048.pickle b/pick_place_block_test/demo_000048.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..4930fc706fd5fdcf94fb61042cf4c6efc4325859
--- /dev/null
+++ b/pick_place_block_test/demo_000048.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9f4c426ed4d02a0271ef9baa2055baccfc70917edb4fea3813941cbc896749
+size 28848966
diff --git a/pick_place_block_test/demo_000049.pickle b/pick_place_block_test/demo_000049.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..7693ab52dd3e8dd79acb6ee7f20c7d59c70e234e
--- /dev/null
+++ b/pick_place_block_test/demo_000049.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f89054d11d977add6c9dfffca1174dfddbf98d6aa9b06c9acf2415362045bb
+size 28848966
diff --git a/pick_place_block_test/demo_000050.pickle b/pick_place_block_test/demo_000050.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..2096ff6d5da0160e322a14016b89e76178d283e5
--- /dev/null
+++ b/pick_place_block_test/demo_000050.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875c77dd6f19c34d029b848ed8288cdbd939fdacb0967d96d068ceedd166999e
+size 28848966
diff --git a/pick_place_block_test/demo_000051.pickle b/pick_place_block_test/demo_000051.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..8fdb62462303b6c5c7c55d7e86d363d2d44555fc
--- /dev/null
+++ b/pick_place_block_test/demo_000051.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2183a9dc764d6bf3bfdbbdb69bf80eaedd26135d1f8f15f851f0a81a2ab8da72
+size 28848966
diff --git a/pick_place_block_test/demo_000052.pickle b/pick_place_block_test/demo_000052.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..86d17bf873d7c4f16ad549f828d3224cc5c06c92
--- /dev/null
+++ b/pick_place_block_test/demo_000052.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c584df687d3f477576b394c758370e0b23595724d13a12b890a08c66b68719f
+size 28848966
diff --git a/pick_place_block_test/demo_000053.pickle b/pick_place_block_test/demo_000053.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..b930510e4de79de54db625d200a58d54baae117d
--- /dev/null
+++ b/pick_place_block_test/demo_000053.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc4648e92d6bcd34aa35bc206f1342f51f188064e887830b31d9fd6d03ba4ad
+size 28848966
diff --git a/pick_place_block_test/demo_000054.pickle b/pick_place_block_test/demo_000054.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..1cd122fa51449c368be0458679808f0c6dabc76d
--- /dev/null
+++ b/pick_place_block_test/demo_000054.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9344066e4813d5897d4ffcdcfa7e7843ac10c338083349c5471435032660768
+size 28848966
diff --git a/pick_place_block_test/demo_000055.pickle b/pick_place_block_test/demo_000055.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..eb7bcf10c47abffa7a24befdd178a6d3a9a2d616
--- /dev/null
+++ b/pick_place_block_test/demo_000055.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1732669fd6405b340c0144f05d2fd92024d311edd6df217b5223d82fc2b0c30
+size 28848966
diff --git a/pick_place_block_test/demo_000056.pickle b/pick_place_block_test/demo_000056.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..2f3458e2d4494fb395dbb94810f9e77a6836319c
--- /dev/null
+++ b/pick_place_block_test/demo_000056.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c95369fa28c35fcabcc454bbffeeb9c48f9f0ebbac1358f7b47371e63cbf00
+size 28848966
diff --git a/pick_place_block_test/demo_000057.pickle b/pick_place_block_test/demo_000057.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..2d5dd5a8c89c458eebf243624d92aa3dc095c3cb
--- /dev/null
+++ b/pick_place_block_test/demo_000057.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020f2c47bd0b47537b7ebb0b3f7cf30ec5258f8f3d3e4e436d8420fcdc419a54
+size 28848966
diff --git a/pick_place_block_test/demo_000058.pickle b/pick_place_block_test/demo_000058.pickle
new file mode 100644
index 0000000000000000000000000000000000000000..95607820dc243be09c818da5dc915eee4fe1a5e8
--- /dev/null
+++ b/pick_place_block_test/demo_000058.pickle
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba988665926a8d9eb7e86b919417a31b62b4f0a594ba01101d9cbac15fba0511
+size 28848966
diff --git a/pick_place_block_test/metadata.yaml b/pick_place_block_test/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eafb1cc2008842ab236b37515a1c910b9f1f1a94
--- /dev/null
+++ b/pick_place_block_test/metadata.yaml
@@ -0,0 +1,334 @@
+config_filename: /home/adam/isaac_ws/src/multisensory_learning/src/multisensory_learning/config/isaacgym/iiwa_pick_place_block.yaml
+data_prefix: demo
+data_root: /media/ssd_data/pick_place_block_test
+demo: null
+device: cpu
+env:
+  img_size: null
+  objects:
+    block:
+      asset_filename: null
+      asset_root: null
+      density: 500.0
+      extents:
+      - 0.08
+      - 0.08
+      - 0.08
+      fix_base_link: false
+      frame_id: world
+      friction: 0.8
+      name: null
+      object_type: box
+      orientation: null
+      position:
+      - null
+      - null
+      - null
+      position_ranges:
+      - - 0.3
+        - 0.7
+      - - -0.3
+        - 0.3
+      - - 0.44
+        - 0.44
+      rb_indices:
+      - 0
+      - 32
+      - 64
+      - 96
+      - 128
+      - 160
+      - 192
+      - 224
+      - 256
+      - 288
+      - 320
+      - 352
+      - 384
+      - 416
+      - 448
+      - 480
+      restitution: 0.8
+      rgb_color: null
+      sample_angle_lower: -3.14159
+      sample_angle_upper: 3.14159
+      sample_axis:
+      - 0
+      - 0
+      - 1
+      set_color: true
+    table:
+      asset_filename: null
+      asset_root: null
+      density: null
+      extents:
+      - 1.5
+      - 1.5
+      - 0.4
+      fix_base_link: true
+      frame_id: world
+      friction: 0.2
+      name: null
+      object_type: box
+      orientation:
+      - 0
+      - 0
+      - 0
+      - 1
+      position:
+      - 0.3
+      - 0.0
+      - 0.2
+      position_ranges: null
+      rb_indices:
+      - 1
+      - 33
+      - 65
+      - 97
+      - 129
+      - 161
+      - 193
+      - 225
+      - 257
+      - 289
+      - 321
+      - 353
+      - 385
+      - 417
+      - 449
+      - 481
+      restitution: null
+      rgb_color:
+      - 0.52
+      - 0.49
+      - 0.41
+      sample_angle_lower: null
+      sample_angle_upper: null
+      sample_axis: null
+      set_color: true
+  robots:
+    iiwa_reflex:
+      arm:
+        arm_type: Iiwa
+        damping:
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        default_joint_pos:
+        - 0.0
+        - 0.6
+        - 0.0
+        - -0.8
+        - 0.0
+        - 1.0
+        - 1.57
+        end_effector:
+          close_finger_indices: null
+          close_finger_joint_pos:
+          - 2.0
+          - 2.0
+          - 2.0
+          close_for_steps: 50
+          damping:
+          - 40.0
+          - 40.0
+          - 40.0
+          - 40.0
+          - 40.0
+          default_joint_pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          - 0.0
+          ee_type: reflex
+          grip_finger_indices:
+          - -4
+          - -2
+          - -1
+          interpolate_gap: 0.05
+          joint_pos_sample_range: 0.0
+          link: reflex_palm_link
+          n_joints: 5
+          name: reflex
+          obj_to_ee_offset: 0.05
+          open_finger_joint_pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          open_for_steps: 50
+          stiffness:
+          - 800.0
+          - 800.0
+          - 800.0
+          - 800.0
+          - 800.0
+        joint_pos_sample_range: 0.0
+        n_joints: 7
+        name: iiwa
+        rb_indices: {}
+        robot_type: iiwa
+        stiffness:
+        - 400.0
+        - 400.0
+        - 400.0
+        - 400.0
+        - 400.0
+        - 400.0
+        - 400.0
+      armature: 0.01
+      asset_filename: ll4ma_robots_description/urdf/iiwa/static/iiwa_reflex_static.urdf
+      disable_gravity: true
+      end_effector:
+        close_finger_indices: null
+        close_finger_joint_pos:
+        - 2.0
+        - 2.0
+        - 2.0
+        close_for_steps: 40
+        damping:
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        - 40.0
+        default_joint_pos:
+        - 0.0
+        - 0.0
+        - 0.0
+        - 0.0
+        - 0.0
+        ee_type: Reflex
+        grip_finger_indices:
+        - -4
+        - -2
+        - -1
+        interpolate_gap: 0.05
+        joint_pos_sample_range: 0.0
+        link: reflex_palm_link
+        n_joints: 5
+        name: reflex
+        obj_to_ee_offset: 0.07
+        open_finger_joint_pos:
+        - 0.0
+        - 0.0
+        - 0.0
+        open_for_steps: 50
+        stiffness:
+        - 800.0
+        - 800.0
+        - 800.0
+        - 800.0
+        - 800.0
+      fix_base_link: true
+      flip_visual_attachments: false
+      n_joints: 0
+      name: iiwa_reflex
+      orientation:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+      position:
+      - 0
+      - 0
+      - 0.4025
+  sensors:
+    camera:
+      depth_min: -3.0
+      height: 512
+      origin:
+      - 1.5
+      - 0
+      - 1.5
+      sensor_type: camera
+      sim_handle: 0
+      target:
+      - -1.5
+      - 0
+      - 0
+      width: 512
+  spacing: 2.0
+log_interval: 1
+log_only_behavior_intervals: true
+log_only_success: true
+look_at_env: 0
+n_demos: 10
+n_envs: 16
+n_steps: -1
+open_loop: false
+publish_ros: false
+randomize_robot: true
+run_forever: false
+sim:
+  asset_root: /home/adam/isaac_ws/src
+  compute_device_id: 0
+  device: cpu
+  dt: 0.016666666666666666
+  graphics_device_id: 0
+  headless: false
+  n_threads: 0
+  physics_engine: SIM_PHYSX
+  render_graphics: true
+  substeps: 2
+  use_gpu: false
+task:
+  behavior:
+    behavior_type: ''
+    behaviors:
+    - allow_bottom_grasps: false
+      allow_side_grasps: false
+      allow_top_grasps: true
+      behavior_type: PickPlaceObject
+      behaviors: []
+      cartesian_path: false
+      disable_collisions: []
+      ignore_error: true
+      lift_offset:
+      - 0.0
+      - 0.0
+      - 0.2
+      lift_offset_choices: null
+      lift_offset_ranges: null
+      max_acc_factor: 0.1
+      max_plan_attempts: 1
+      max_vel_factor: 0.3
+      min_cartesian_pct: 0.8
+      name: pick_place
+      place_approach_height: 0.1
+      place_orientation: null
+      place_position:
+      - 0.0
+      - 0.0
+      - 0.0
+      place_position_ranges:
+      - - 0.3
+        - 0.7
+      - - -0.3
+        - 0.3
+      - - 0.44
+        - 0.8
+      planning_time: 1.0
+      remove_aligned_short_bb_face: false
+      target_object: block
+      wait_after_behavior: 20
+    cartesian_path: false
+    disable_collisions: []
+    ignore_error: false
+    max_acc_factor: 0.1
+    max_plan_attempts: 1
+    max_vel_factor: 0.3
+    min_cartesian_pct: 1.0
+    name: pick_place
+    planning_time: 1.0
+    wait_after_behavior: 20
+  extra_steps: 200
+  include_depth_in_state: false
+  include_rgb_in_state: false
+  task_type: pick_place
+viewer_origin: null
+viewer_target: null